path_progress.h
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34 #ifndef MIR_DWB_CRITICS_PATH_PROGRESS_H_
35 #define MIR_DWB_CRITICS_PATH_PROGRESS_H_
36 
37 #include <dwb_critics/map_grid.h>
38 #include <vector>
39 
40 namespace mir_dwb_critics {
51  public:
52  bool prepare(const geometry_msgs::Pose2D &pose,
53  const nav_2d_msgs::Twist2D &vel,
54  const geometry_msgs::Pose2D &goal,
55  const nav_2d_msgs::Path2D &global_plan) override;
56 
57  void onInit() override;
58  void reset() override;
59  double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override;
60 
61  protected:
62  bool getGoalPose(const geometry_msgs::Pose2D &robot_pose,
63  const nav_2d_msgs::Path2D &global_plan,
64  unsigned int &x,
65  unsigned int &y,
66  double &desired_angle);
67 
68  unsigned int getGoalIndex(const std::vector<geometry_msgs::Pose2D> &plan,
69  unsigned int start_index,
70  unsigned int last_valid_index) const;
71 
75 
76  std::vector<geometry_msgs::Pose2D> reached_intermediate_goals_;
78 };
79 
80 } // namespace mir_dwb_critics
81 #endif // MIR_DWB_CRITICS_PATH_PROGRESS_H_
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
unsigned int getGoalIndex(const std::vector< geometry_msgs::Pose2D > &plan, unsigned int start_index, unsigned int last_valid_index) const
TFSIMD_FORCE_INLINE const tfScalar & y() const
double scoreTrajectory(const dwb_msgs::Trajectory2D &traj) override
TFSIMD_FORCE_INLINE const tfScalar & x() const
bool getGoalPose(const geometry_msgs::Pose2D &robot_pose, const nav_2d_msgs::Path2D &global_plan, unsigned int &x, unsigned int &y, double &desired_angle)
Calculates an intermediate goal along the global path and scores trajectories on the distance to that...
Definition: path_progress.h:50
std::vector< geometry_msgs::Pose2D > reached_intermediate_goals_
Definition: path_progress.h:76


mir_dwb_critics
Author(s): Martin Günther
autogenerated on Wed May 8 2019 02:38:50