prefer_forward_cost_function.h
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37 
38 #ifndef PREFER_FORWARD_COST_FUNCTION_H_
39 #define PREFER_FORWARD_COST_FUNCTION_H_
40 
42 
43 namespace base_local_planner {
44 
46 public:
47 
48  PreferForwardCostFunction(double penalty) : penalty_(penalty) {}
50 
51  double scoreTrajectory(Trajectory &traj);
52 
53  bool prepare() {return true;};
54 
55  void setPenalty(double penalty) {
56  penalty_ = penalty;
57  }
58 
59 private:
60  double penalty_;
61 };
62 
63 } /* namespace base_local_planner */
64 #endif /* PREFER_FORWARD_COST_FUNCTION_H_ */
Provides an interface for critics of trajectories During each sampling run, a batch of many trajector...
Holds a trajectory generated by considering an x, y, and theta velocity.
Definition: trajectory.h:44


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Jan 21 2021 04:05:49