base_obstacle.hpp

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#ifndef DWB_CRITICS__BASE_OBSTACLE_HPP_
#define DWB_CRITICS__BASE_OBSTACLE_HPP_
 
#include <string>
#include <vector>
#include <utility>
 
#include "dwb_core/trajectory_critic.hpp"
 
namespace dwb_critics
{
class BaseObstacleCritic : public dwb_core::TrajectoryCritic
{
public:
  void onInit() override;
  double scoreTrajectory(const dwb_msgs::msg::Trajectory2D & traj) override;
  void addCriticVisualization(
    std::vector<std::pair<std::string, std::vector<float>>> & cost_channels) override;
 
  virtual double scorePose(const geometry_msgs::msg::Pose & pose);
 
  virtual bool isValidCost(const unsigned char cost);
 
protected:
  nav2_costmap_2d::Costmap2D * costmap_;
  bool sum_scores_;
};
}  // namespace dwb_critics
 
#endif  // DWB_CRITICS__BASE_OBSTACLE_HPP_