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#ifndef DWB_CRITICS_PATH_ALIGN_H_
#define DWB_CRITICS_PATH_ALIGN_H_

#include <dwb_critics/path_dist.h>
#include <vector>
#include <string>

namespace dwb_critics
{
/**
 * @class PathAlignCritic
 * @brief Scores trajectories based on how far from the global path the front of the robot ends up.
 *
 * This uses the costmap grid as a proxy for calculating which way the robot should be facing relative
 * to the global path. Instead of scoring how far the center of the robot is away from the global path,
 * this critic calculates how far a point forward_point_distance in front of the robot is from the global
 * path. This biases the planner toward trajectories that line up with the global plan.
 *
 * When the robot is near the end of the path, the scale of this critic is set to zero. When the projected
 * point is past the global goal, we no longer want this critic to try to align to a part of the global path
 * that isn't there.
 */
class PathAlignCritic: public PathDistCritic
{
public:
  PathAlignCritic() : zero_scale_(false), forward_point_distance_(0.0) {}
  void onInit() override;
  bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
               const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override;
  double getScale() const override;
  double scorePose(const geometry_msgs::Pose2D& pose) override;
protected:
  bool zero_scale_;
  double forward_point_distance_;
};

}  // namespace dwb_critics
#endif  // DWB_CRITICS_PATH_ALIGN_H_
