#include <oscillation_cost_function.h>

Inheritance diagram for base_local_planner::OscillationCostFunction:

Public Member Functions
	OscillationCostFunction ()

bool	prepare ()

void	resetOscillationFlags ()
	Reset the oscillation flags for the local planner. More...

double	scoreTrajectory (Trajectory &traj)

void	setOscillationResetDist (double dist, double angle)

void	updateOscillationFlags (Eigen::Vector3f pos, base_local_planner::Trajectory *traj, double min_vel_trans)

virtual	~OscillationCostFunction ()

Public Member Functions inherited from base_local_planner::TrajectoryCostFunction
double	getScale ()

void	setScale (double scale)

virtual	~TrajectoryCostFunction ()

Private Member Functions
void	resetOscillationFlagsIfPossible (const Eigen::Vector3f &pos, const Eigen::Vector3f &prev)

bool	setOscillationFlags (base_local_planner::Trajectory *t, double min_vel_trans)
	Given a trajectory that's selected, set flags if needed to prevent the robot from oscillating. More...

Private Attributes
bool	forward_neg_

bool	forward_neg_only_

bool	forward_pos_

bool	forward_pos_only_

double	oscillation_reset_angle_

double	oscillation_reset_dist_

Eigen::Vector3f	prev_stationary_pos_

bool	rot_neg_only_

bool	rot_pos_only_

bool	rotating_neg_

bool	rotating_pos_

bool	strafe_neg_only_

bool	strafe_pos_only_

bool	strafing_neg_

bool	strafing_pos_

Additional Inherited Members
Protected Member Functions inherited from base_local_planner::TrajectoryCostFunction
	TrajectoryCostFunction (double scale=1.0)

Detailed Description

Definition at line 81 of file oscillation_cost_function.h.

Constructor & Destructor Documentation

◆ OscillationCostFunction()

base_local_planner::OscillationCostFunction::OscillationCostFunction ( )

Definition at line 79 of file oscillation_cost_function.cpp.

◆ ~OscillationCostFunction()

base_local_planner::OscillationCostFunction::~OscillationCostFunction ( )

virtual

Definition at line 82 of file oscillation_cost_function.cpp.

Member Function Documentation

◆ prepare()

bool base_local_planner::OscillationCostFunction::prepare ( )

inlinevirtual

General updating of context values if required. Subclasses may overwrite. Return false in case there is any error.

Implements base_local_planner::TrajectoryCostFunction.

Definition at line 123 of file oscillation_cost_function.h.

◆ resetOscillationFlags()

void base_local_planner::OscillationCostFunction::resetOscillationFlags ( )

Reset the oscillation flags for the local planner.

Definition at line 119 of file oscillation_cost_function.cpp.

◆ resetOscillationFlagsIfPossible()

void base_local_planner::OscillationCostFunction::resetOscillationFlagsIfPossible	(	const Eigen::Vector3f &	pos,
		const Eigen::Vector3f &	prev
	)

private

Definition at line 105 of file oscillation_cost_function.cpp.

◆ scoreTrajectory()

double base_local_planner::OscillationCostFunction::scoreTrajectory ( Trajectory & traj )

virtual

return a score for trajectory traj

Implements base_local_planner::TrajectoryCostFunction.

Definition at line 201 of file oscillation_cost_function.cpp.

◆ setOscillationFlags()

bool base_local_planner::OscillationCostFunction::setOscillationFlags	(	base_local_planner::Trajectory *	t,
		double	min_vel_trans
	)

private

Given a trajectory that's selected, set flags if needed to prevent the robot from oscillating.

Parameters

t	The selected trajectory

Returns: True if a flag was set, false otherwise

Definition at line 136 of file oscillation_cost_function.cpp.

◆ setOscillationResetDist()

void base_local_planner::OscillationCostFunction::setOscillationResetDist	(	double	dist,
		double	angle
	)

Definition at line 86 of file oscillation_cost_function.cpp.

◆ updateOscillationFlags()

void base_local_planner::OscillationCostFunction::updateOscillationFlags	(	Eigen::Vector3f	pos,
		base_local_planner::Trajectory *	traj,
		double	min_vel_trans
	)