88 lines
3.1 KiB
C++
Executable File
88 lines
3.1 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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#include <dwb_critics/path_align.h>
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#include <dwb_critics/alignment_util.h>
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#include <pluginlib/class_list_macros.h>
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#include <nav_2d_utils/parameters.h>
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#include <vector>
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#include <string>
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namespace dwb_critics
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{
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void PathAlignCritic::onInit()
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{
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PathDistCritic::onInit();
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stop_on_failure_ = false;
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forward_point_distance_ = nav_2d_utils::searchAndGetParam(critic_nh_, "forward_point_distance", 0.325);
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}
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bool PathAlignCritic::prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
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const geometry_msgs::Pose2D& goal,
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const nav_2d_msgs::Path2D& global_plan)
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{
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double dx = pose.x - goal.x;
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double dy = pose.y - goal.y;
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double sq_dist = dx * dx + dy * dy;
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if (sq_dist > forward_point_distance_ * forward_point_distance_)
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{
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zero_scale_ = false;
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}
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else
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{
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// once we are close to goal, trying to keep the nose close to anything destabilizes behavior.
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zero_scale_ = true;
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return true;
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}
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return PathDistCritic::prepare(pose, vel, goal, global_plan);
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}
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double PathAlignCritic::getScale() const
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{
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if (zero_scale_)
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return 0.0;
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else
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return costmap_->getResolution() * 0.5 * scale_;
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}
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double PathAlignCritic::scorePose(const geometry_msgs::Pose2D& pose)
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{
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return PathDistCritic::scorePose(getForwardPose(pose, forward_point_distance_));
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}
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} // namespace dwb_critics
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PLUGINLIB_EXPORT_CLASS(dwb_critics::PathAlignCritic, dwb_local_planner::TrajectoryCritic)
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