goal_dist.h
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34 #ifndef DWB_CRITICS_GOAL_DIST_H_
35 #define DWB_CRITICS_GOAL_DIST_H_
36 
37 #include <dwb_critics/map_grid.h>
38 #include <vector>
39 
40 namespace dwb_critics
41 {
51 {
52 public:
53  bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
54  const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override;
55 protected:
56  bool getLastPoseOnCostmap(const nav_2d_msgs::Path2D& global_plan, unsigned int& x, unsigned int& y);
57 };
58 
59 } // namespace dwb_critics
60 #endif // DWB_CRITICS_GOAL_DIST_H_
TFSIMD_FORCE_INLINE const tfScalar & y() const
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
Definition: goal_dist.cpp:42
Scores trajectories based on how far along the global path they end up.
Definition: goal_dist.h:50
breadth-first scoring of all the cells in the costmap
Definition: map_grid.h:57
TFSIMD_FORCE_INLINE const tfScalar & x() const
bool getLastPoseOnCostmap(const nav_2d_msgs::Path2D &global_plan, unsigned int &x, unsigned int &y)
Definition: goal_dist.cpp:63


dwb_critics
Author(s): David V. Lu!!
autogenerated on Wed Jun 26 2019 20:06:22