twirling_cost_function.cpp
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1 /*
2  * twirling_cost_function.cpp
3  *
4  * Created on: Apr 20, 2016
5  * Author: Morgan Quigley
6  */
7 
9 
10 #include <math.h>
11 
12 namespace base_local_planner {
13 
15  return fabs(traj.thetav_); // add cost for making the robot spin
16 }
17 
18 } /* namespace base_local_planner */
double thetav_
The x, y, and theta velocities of the trajectory.
Definition: trajectory.h:60
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