trajectory_critic.h

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#ifndef DWB_LOCAL_PLANNER_TRAJECTORY_CRITIC_H
#define DWB_LOCAL_PLANNER_TRAJECTORY_CRITIC_H

#include <ros/ros.h>
#include <nav_core2/common.h>
#include <nav_core2/costmap.h>
#include <geometry_msgs/Pose2D.h>
#include <nav_2d_msgs/Twist2D.h>
#include <nav_2d_msgs/Path2D.h>
#include <dwb_msgs/Trajectory2D.h>
#include <sensor_msgs/PointCloud.h>
#include <string>
#include <vector>

namespace dwb_local_planner
{
class TrajectoryCritic
{
public:
  using Ptr = std::shared_ptr<dwb_local_planner::TrajectoryCritic>;

  virtual ~TrajectoryCritic() {}

  void initialize(const ros::NodeHandle& planner_nh, std::string name, nav_core2::Costmap::Ptr costmap)
  {
    name_ = name;
    costmap_ = costmap;
    planner_nh_ = planner_nh;
    critic_nh_ = ros::NodeHandle(planner_nh_, name_);
    critic_nh_.param("scale", scale_, 1.0);
    onInit();
  }

  virtual void onInit() {}

  virtual void reset() {}

  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)
  {
    return true;
  }

  virtual double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) = 0;

  virtual void debrief(const nav_2d_msgs::Twist2D& cmd_vel) {}

  virtual void addCriticVisualization(sensor_msgs::PointCloud& pc) {}

  std::string getName()
  {
    return name_;
  }

  virtual double getScale() const { return scale_; }
  void setScale(const double scale) { scale_ = scale; }
protected:
  std::string name_;
  nav_core2::Costmap::Ptr costmap_;
  double scale_;
  ros::NodeHandle critic_nh_, planner_nh_;
};

}  // namespace dwb_local_planner

#endif  // DWB_LOCAL_PLANNER_TRAJECTORY_CRITIC_H