oscillation_cost_function.h

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#ifndef OSCILLATION_COST_FUNCTION_H_
#define OSCILLATION_COST_FUNCTION_H_
 
#include <base_local_planner/trajectory_cost_function.h>
#include <Eigen/Core>
 
namespace base_local_planner {
 
class OscillationCostFunction: public base_local_planner::TrajectoryCostFunction {
public:
  OscillationCostFunction();
  virtual ~OscillationCostFunction();
 
  double scoreTrajectory(Trajectory &traj);
 
  bool prepare() {return true;};
 
  void resetOscillationFlags();
 
 
  void updateOscillationFlags(Eigen::Vector3f pos, base_local_planner::Trajectory* traj, double min_vel_trans);
 
  void setOscillationResetDist(double dist, double angle);
 
private:
 
  void resetOscillationFlagsIfPossible(const Eigen::Vector3f& pos, const Eigen::Vector3f& prev);
 
  bool setOscillationFlags(base_local_planner::Trajectory* t, double min_vel_trans);
 
  // flags
  bool strafe_pos_only_, strafe_neg_only_, strafing_pos_, strafing_neg_;
  bool rot_pos_only_, rot_neg_only_, rotating_pos_, rotating_neg_;
  bool forward_pos_only_, forward_neg_only_, forward_pos_, forward_neg_;
 
  // param
  double oscillation_reset_dist_, oscillation_reset_angle_;
 
  Eigen::Vector3f prev_stationary_pos_;
};
 
} /* namespace base_local_planner */
#endif /* OSCILLATION_COST_FUNCTION_H_ */