goal_dist.h

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#ifndef DWB_CRITICS_GOAL_DIST_H_
#define DWB_CRITICS_GOAL_DIST_H_

#include <dwb_critics/map_grid.h>
#include <vector>

namespace dwb_critics
{
class GoalDistCritic: public MapGridCritic
{
public:
  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;
protected:
  bool getLastPoseOnCostmap(const nav_2d_msgs::Path2D& global_plan, unsigned int& x, unsigned int& y);
};

}  // namespace dwb_critics
#endif  // DWB_CRITICS_GOAL_DIST_H_