twirling_cost_function.cpp

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/*
 * twirling_cost_function.cpp
 *
 *  Created on: Apr 20, 2016
 *      Author: Morgan Quigley
 */
 
#include <base_local_planner/twirling_cost_function.h>
 
#include <math.h>
 
namespace base_local_planner {
 
double TwirlingCostFunction::scoreTrajectory(Trajectory &traj) {
  return fabs(traj.thetav_);  // add cost for making the robot spin
}
 
} /* namespace base_local_planner */