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38 #ifndef OSCILLATION_COST_FUNCTION_H_
39 #define OSCILLATION_COST_FUNCTION_H_
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.
void updateOscillationFlags(Eigen::Vector3f pos, base_local_planner::Trajectory *traj, double min_vel_trans)
double oscillation_reset_angle_
double scoreTrajectory(Trajectory &traj)
Provides an interface for critics of trajectories During each sampling run, a batch of many trajector...
virtual ~OscillationCostFunction()
double oscillation_reset_dist_
Eigen::Vector3f prev_stationary_pos_
OscillationCostFunction()
void resetOscillationFlags()
Reset the oscillation flags for the local planner.
void setOscillationResetDist(double dist, double angle)
Holds a trajectory generated by considering an x, y, and theta velocity.
void resetOscillationFlagsIfPossible(const Eigen::Vector3f &pos, const Eigen::Vector3f &prev)
base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Mon Mar 6 2023 03:50:24