goal_align.cpp

/*
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#include "dwb_critics/goal_align.hpp"
#include <vector>
#include <string>
#include "dwb_critics/alignment_util.hpp"
#include "pluginlib/class_list_macros.hpp"
 
namespace dwb_critics
{
 
void GoalAlignCritic::onInit()
{
  GoalDistCritic::onInit();
  stop_on_failure_ = false;
 
  auto node = node_.lock();
  if (!node) {
    throw std::runtime_error{"Failed to lock node"};
  }
 
  forward_point_distance_ = node->declare_or_get_parameter(dwb_plugin_name_ + "." + name_ +
      ".forward_point_distance", 0.325);
}
 
bool GoalAlignCritic::prepare(
  const geometry_msgs::msg::Pose & pose, const nav_2d_msgs::msg::Twist2D & vel,
  const geometry_msgs::msg::Pose & goal,
  const nav_msgs::msg::Path & global_plan)
{
  // we want the robot nose to be drawn to its final position
  // (before robot turns towards goal orientation), not the end of the
  // path for the robot center. Choosing the final position after
  // turning towards goal orientation causes instability when the
  // robot needs to make a 180 degree turn at the end
  double angle_to_goal = atan2(goal.position.y - pose.position.y,
    goal.position.x - pose.position.x);
 
  nav_msgs::msg::Path target_poses = global_plan;
  target_poses.poses.back().pose.position.x += forward_point_distance_ * cos(angle_to_goal);
  target_poses.poses.back().pose.position.y += forward_point_distance_ * sin(angle_to_goal);
 
  return GoalDistCritic::prepare(pose, vel, goal, target_poses);
}
 
double GoalAlignCritic::scorePose(const geometry_msgs::msg::Pose & pose)
{
  return GoalDistCritic::scorePose(getForwardPose(pose, forward_point_distance_));
}
 
}  // namespace dwb_critics
 
PLUGINLIB_EXPORT_CLASS(dwb_critics::GoalAlignCritic, dwb_core::TrajectoryCritic)