twirling.cpp

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/*
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#include <dwb_critics/twirling.h>
#include <pluginlib/class_list_macros.h>
 
namespace dwb_critics
{
void TwirlingCritic::onInit()
{
  // Scale is set to 0 by default, so if it was not set otherwise, set to 0
  if (!critic_nh_.hasParam("scale"))
  {
    scale_ = 0.0;
  }
}
 
double TwirlingCritic::scoreTrajectory(const dwb_msgs::Trajectory2D& traj)
{
  return fabs(traj.velocity.theta);  // add cost for making the robot spin
}
}  // namespace dwb_critics
 
PLUGINLIB_EXPORT_CLASS(dwb_critics::TwirlingCritic, dwb_local_planner::TrajectoryCritic)