edge_prefer_rotdir.h

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 *
 * Software License Agreement (BSD License)
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 *  Copyright (c) 2016,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * Notes:
 * The following class is derived from a class defined by the
 * g2o-framework. g2o is licensed under the terms of the BSD License.
 * Refer to the base class source for detailed licensing information.
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 * Author: Christoph Rösmann
 *********************************************************************/
#ifndef EDGE_PREFER_ROTDIR_H_
#define EDGE_PREFER_ROTDIR_H_

#include <teb_local_planner/g2o_types/vertex_pose.h>
#include <teb_local_planner/g2o_types/base_teb_edges.h>
#include <teb_local_planner/g2o_types/penalties.h>
#include "g2o/core/base_unary_edge.h"


namespace teb_local_planner
{

class EdgePreferRotDir : public BaseTebBinaryEdge<1, double, VertexPose, VertexPose>
{
public:
    
  EdgePreferRotDir() 
  {
    _measurement = 1;
  }
 
  void computeError()
  {
    const VertexPose* conf1 = static_cast<const VertexPose*>(_vertices[0]);
    const VertexPose* conf2 = static_cast<const VertexPose*>(_vertices[1]);
    
    _error[0] = penaltyBoundFromBelow( _measurement*g2o::normalize_theta(conf2->theta()-conf1->theta()) , 0, 0);

    ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgePreferRotDir::computeError() _error[0]=%f\n",_error[0]);
  }

  void setRotDir(double dir)
  {
    _measurement = dir;
  }
  
  void preferRight() {_measurement = -1;}
    
  void preferLeft() {_measurement = 1;}  
    
  
public: 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

};
  
    

} // end namespace

#endif