rotate_to_goal.h
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34 #ifndef DWB_CRITICS_ROTATE_TO_GOAL_H_
35 #define DWB_CRITICS_ROTATE_TO_GOAL_H_
36 
38 #include <string>
39 #include <vector>
40 
41 namespace dwb_critics
42 {
43 
71 {
72 public:
73  void onInit() override;
74  void reset() override;
75  bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
76  const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override;
77  double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override;
78 
87  virtual double scoreRotation(const dwb_msgs::Trajectory2D& traj);
88 
89 protected:
91  double goal_yaw_;
97 };
98 
99 } // namespace dwb_critics
100 #endif // DWB_CRITICS_ROTATE_TO_GOAL_H_
double scoreTrajectory(const dwb_msgs::Trajectory2D &traj) override
double xy_goal_tolerance_sq_
Cached squared tolerance.
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
Forces the commanded trajectories to only be rotations if within a certain distance window...
virtual double scoreRotation(const dwb_msgs::Trajectory2D &traj)
Assuming that this is an actual rotation when near the goal, score the trajectory.


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