34 #ifndef MIR_DWB_CRITICS_PATH_DISTANCE_PRUNED_H_ 35 #define MIR_DWB_CRITICS_PATH_DISTANCE_PRUNED_H_ 50 virtual bool prepare(
const geometry_msgs::Pose2D& pose,
const nav_2d_msgs::Twist2D& vel,
51 const geometry_msgs::Pose2D& goal,
52 const nav_2d_msgs::Path2D& global_plan)
override;
56 #endif // MIR_DWB_CRITICS_DISTANCE_PRUNED_H_ Scores trajectories based on how far from the global path they end up, where the global path is prune...
virtual 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