54 lines
2.2 KiB
C++
Executable File
54 lines
2.2 KiB
C++
Executable File
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2017, Locus Robotics
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef DWB_CRITICS_PATH_DIST_H_
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#define DWB_CRITICS_PATH_DIST_H_
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#include <dwb_critics/map_grid.h>
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namespace dwb_critics
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{
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/**
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* @class PathDistCritic
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* @brief Scores trajectories based on how far from the global path they end up.
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*/
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class PathDistCritic: public MapGridCritic
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{
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public:
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bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
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const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override;
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};
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} // namespace dwb_critics
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#endif // DWB_CRITICS_PATH_DIST_H_
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