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#include <dwb_critics/path_align.h>
#include <dwb_critics/alignment_util.h>
#include <pluginlib/class_list_macros.h>
#include <nav_2d_utils/parameters.h>
#include <vector>
#include <string>

namespace dwb_critics
{

void PathAlignCritic::onInit()
{
  PathDistCritic::onInit();
  stop_on_failure_ = false;
  forward_point_distance_ = nav_2d_utils::searchAndGetParam(critic_nh_, "forward_point_distance", 0.325);
}

bool PathAlignCritic::prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
                              const geometry_msgs::Pose2D& goal,
                              const nav_2d_msgs::Path2D& global_plan)
{
  double dx = pose.x - goal.x;
  double dy = pose.y - goal.y;
  double sq_dist = dx * dx + dy * dy;
  if (sq_dist > forward_point_distance_ * forward_point_distance_)
  {
    zero_scale_ = false;
  }
  else
  {
    // once we are close to goal, trying to keep the nose close to anything destabilizes behavior.
    zero_scale_ = true;
    return true;
  }

  return PathDistCritic::prepare(pose, vel, goal, global_plan);
}

double PathAlignCritic::getScale() const
{
  if (zero_scale_)
    return 0.0;
  else
    return costmap_->getResolution() * 0.5 * scale_;
}

double PathAlignCritic::scorePose(const geometry_msgs::Pose2D& pose)
{
  return PathDistCritic::scorePose(getForwardPose(pose, forward_point_distance_));
}

}  // namespace dwb_critics

PLUGINLIB_EXPORT_CLASS(dwb_critics::PathAlignCritic, dwb_local_planner::TrajectoryCritic)