prefer_forward_cost_function.h
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00037 
00038 #ifndef PREFER_FORWARD_COST_FUNCTION_H_
00039 #define PREFER_FORWARD_COST_FUNCTION_H_
00040 
00041 #include <base_local_planner/trajectory_cost_function.h>
00042 
00043 namespace base_local_planner {
00044 
00045 class PreferForwardCostFunction: public base_local_planner::TrajectoryCostFunction {
00046 public:
00047 
00048   PreferForwardCostFunction(double penalty) : penalty_(penalty) {}
00049   ~PreferForwardCostFunction() {}
00050 
00051   double scoreTrajectory(Trajectory &traj);
00052 
00053   bool prepare() {return true;};
00054 
00055   void setPenalty(double penalty) {
00056     penalty_ = penalty;
00057   }
00058 
00059 private:
00060   double penalty_;
00061 };
00062 
00063 } /* namespace base_local_planner */
00064 #endif /* PREFER_FORWARD_COST_FUNCTION_H_ */


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:07:08