recovery_behaviors.h

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#ifndef RECOVERY_BEHAVIORS_H__
#define RECOVERY_BEHAVIORS_H__


#include <boost/circular_buffer.hpp>
#include <geometry_msgs/Twist.h>
#include <ros/ros.h>

namespace teb_local_planner
{


class FailureDetector
{
public:

  FailureDetector() {}  
  
  ~FailureDetector() {}
  
  void setBufferLength(int length) {buffer_.set_capacity(length);}
  
  void update(const geometry_msgs::Twist& twist, double v_max, double v_backwards_max, double omega_max, double v_eps, double omega_eps);
  
  bool isOscillating() const;
  
  void clear();
       
protected:
    
    struct VelMeasurement
    {
        double v = 0;
        double omega = 0;
    };
    
    bool detect(double v_eps, double omega_eps);
  
private:
    
    boost::circular_buffer<VelMeasurement> buffer_; 
    bool oscillating_ = false; 
                
};


} // namespace teb_local_planner

#endif /* RECOVERY_BEHAVIORS_H__ */