path_angle.h

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#ifndef MIR_DWB_CRITICS_PATH_ANGLE_H_
#define MIR_DWB_CRITICS_PATH_ANGLE_H_

#include <dwb_local_planner/trajectory_critic.h>
#include <vector>

namespace mir_dwb_critics
{
class PathAngleCritic: public dwb_local_planner::TrajectoryCritic
{
public:
  virtual bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
                       const geometry_msgs::Pose2D& goal,
                       const nav_2d_msgs::Path2D& global_plan) override;

  virtual double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override;

protected:
  double desired_angle_;
};

}  // namespace mir_dwb_critics
#endif  // MIR_DWB_CRITICS_PATH_ANGLE_H_