simple_goal_checker.h

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#ifndef DWB_PLUGINS_SIMPLE_GOAL_CHECKER_H
#define DWB_PLUGINS_SIMPLE_GOAL_CHECKER_H
 
#include <ros/ros.h>
#include <dwb_local_planner/goal_checker.h>
 
namespace dwb_plugins
{
 
class SimpleGoalChecker : public dwb_local_planner::GoalChecker
{
public:
  SimpleGoalChecker();
  // Standard GoalChecker Interface
  void initialize(const ros::NodeHandle& nh) override;
  void reset() override;
  bool isGoalReached(const geometry_msgs::Pose2D& query_pose, const geometry_msgs::Pose2D& goal_pose,
                     const nav_2d_msgs::Twist2D& velocity) override;
protected:
  double xy_goal_tolerance_, yaw_goal_tolerance_;
  bool stateful_, check_xy_;
 
  // Cached squared xy_goal_tolerance_
  double xy_goal_tolerance_sq_;
};
 
}  // namespace dwb_plugins
 
#endif  // DWB_PLUGINS_SIMPLE_GOAL_CHECKER_H