Program Listing for File rotate_to_goal.hpp
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#ifndef DWB_CRITICS__ROTATE_TO_GOAL_HPP_
#define DWB_CRITICS__ROTATE_TO_GOAL_HPP_
#include <string>
#include <vector>
#include "dwb_core/trajectory_critic.hpp"
namespace dwb_critics
{
class RotateToGoalCritic : public dwb_core::TrajectoryCritic
{
public:
void onInit() override;
void reset() override;
bool prepare(
const geometry_msgs::msg::Pose2D & pose, const nav_2d_msgs::msg::Twist2D & vel,
const geometry_msgs::msg::Pose2D & goal, const nav_2d_msgs::msg::Path2D & global_plan) override;
double scoreTrajectory(const dwb_msgs::msg::Trajectory2D & traj) override;
virtual double scoreRotation(const dwb_msgs::msg::Trajectory2D & traj);
private:
bool in_window_;
bool rotating_;
double goal_yaw_;
double xy_goal_tolerance_;
double xy_goal_tolerance_sq_;
double current_xy_speed_sq_, stopped_xy_velocity_sq_;
double slowing_factor_;
double lookahead_time_;
};
} // namespace dwb_critics
#endif // DWB_CRITICS__ROTATE_TO_GOAL_HPP_