obstacle_footprint.h

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#ifndef DWB_CRITICS_OBSTACLE_FOOTPRINT_H
#define DWB_CRITICS_OBSTACLE_FOOTPRINT_H
 
#include <dwb_critics/base_obstacle.h>
#include <nav_2d_msgs/Polygon2D.h>
#include <vector>
 
namespace dwb_critics
{
 
class ObstacleFootprintCritic : public BaseObstacleCritic
{
public:
  void onInit() override;
  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;
  double scorePose(const nav_core2::Costmap& costmap, const geometry_msgs::Pose2D& pose) override;
  virtual double scorePose(const nav_core2::Costmap& costmap, const geometry_msgs::Pose2D& pose,
                           const nav_2d_msgs::Polygon2D& oriented_footprint);
  double getScale() const override { return costmap_->getResolution() * scale_; }
protected:
  nav_2d_msgs::Polygon2D footprint_spec_;
};
}  // namespace dwb_critics
 
#endif  // DWB_CRITICS_OBSTACLE_FOOTPRINT_H