prefer_forward.cpp

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#include <dwb_critics/prefer_forward.h>
#include <math.h>
#include <pluginlib/class_list_macros.h>
 
PLUGINLIB_EXPORT_CLASS(dwb_critics::PreferForwardCritic, dwb_local_planner::TrajectoryCritic)
 
namespace dwb_critics
{
 
void PreferForwardCritic::onInit()
{
  critic_nh_.param("penalty", penalty_, 1.0);
  critic_nh_.param("strafe_x", strafe_x_, 0.1);
  critic_nh_.param("strafe_theta", strafe_theta_, 0.2);
  critic_nh_.param("theta_scale", theta_scale_, 10.0);
}
 
double PreferForwardCritic::scoreTrajectory(const dwb_msgs::Trajectory2D& traj)
{
  // backward motions bad on a robot without backward sensors
  if (traj.velocity.x < 0.0)
  {
    return penalty_;
  }
  // strafing motions also bad on such a robot
  if (traj.velocity.x < strafe_x_ && fabs(traj.velocity.theta) < strafe_theta_)
  {
    return penalty_;
  }
 
  // the more we rotate, the less we progress forward
  return fabs(traj.velocity.theta) * theta_scale_;
}
 
} /* namespace dwb_critics */