prefer_forward_cost_function.cpp

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/*
 * prefer_forward_cost_function.cpp
 *
 *  Created on: Apr 4, 2012
 *      Author: tkruse
 */
 
#include <base_local_planner/prefer_forward_cost_function.h>
 
#include <math.h>
 
namespace base_local_planner {
 
 
double PreferForwardCostFunction::scoreTrajectory(Trajectory &traj) {
  // backward motions bad on a robot without backward sensors
  if (traj.xv_ < 0.0) {
    return penalty_;
  }
  // strafing motions also bad on such a robot
  if (traj.xv_ < 0.1 && fabs(traj.thetav_) < 0.2) {
    return penalty_;
  }
  // the more we rotate, the less we progress forward
  return fabs(traj.thetav_) * 10;
}
 
} /* namespace base_local_planner */