oscillation.hpp

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#ifndef DWB_CRITICS__OSCILLATION_HPP_
#define DWB_CRITICS__OSCILLATION_HPP_
 
#include <vector>
#include <string>
#include <chrono>
#include "dwb_core/trajectory_critic.hpp"
 
using namespace std::chrono_literals;  // NOLINT
 
namespace dwb_critics
{
 
class OscillationCritic : public dwb_core::TrajectoryCritic
{
public:
  OscillationCritic()
  : oscillation_reset_time_(0s) {}
  void onInit() override;
  bool prepare(
    const geometry_msgs::msg::Pose2D & pose, const nav_2d_msgs::msg::Twist2D & vel,
    const geometry_msgs::msg::Pose2D & goal, const nav_2d_msgs::msg::Path2D & global_plan) override;
  double scoreTrajectory(const dwb_msgs::msg::Trajectory2D & traj) override;
  void reset() override;
  void debrief(const nav_2d_msgs::msg::Twist2D & cmd_vel) override;
 
private:
  class CommandTrend
  {
public:
    CommandTrend();
    void reset();
 
    bool update(double velocity);
 
    bool isOscillating(double velocity);
 
    bool hasSignFlipped();
 
private:
    // Simple Enum for Tracking
    // cppcheck-suppress syntaxError
    enum class Sign { ZERO, POSITIVE, NEGATIVE };
 
    Sign sign_;
    bool positive_only_, negative_only_;
  };
 
  bool setOscillationFlags(const nav_2d_msgs::msg::Twist2D & cmd_vel);
 
  bool resetAvailable();
 
  CommandTrend x_trend_, y_trend_, theta_trend_;
  double oscillation_reset_dist_, oscillation_reset_angle_, x_only_threshold_;
  rclcpp::Duration oscillation_reset_time_;
 
  // Cached square parameter
  double oscillation_reset_dist_sq_;
 
  // Saved positions
  geometry_msgs::msg::Pose2D pose_, prev_stationary_pose_;
  // Saved timestamp
  rclcpp::Time prev_reset_time_;
  rclcpp::Clock::SharedPtr clock_;
};
 
}  // namespace dwb_critics
#endif  // DWB_CRITICS__OSCILLATION_HPP_