path_align.hpp

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#ifndef DWB_CRITICS__PATH_ALIGN_HPP_
#define DWB_CRITICS__PATH_ALIGN_HPP_
 
#include <vector>
#include <string>
#include "dwb_critics/path_dist.hpp"
 
namespace dwb_critics
{
class PathAlignCritic : public PathDistCritic
{
public:
  PathAlignCritic()
  : zero_scale_(false), forward_point_distance_(0.0) {}
  void onInit() override;
  bool 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) override;
  double getScale() const override;
  double scorePose(const geometry_msgs::msg::Pose & pose) override;
 
protected:
  bool zero_scale_;
  double forward_point_distance_;
};
 
}  // namespace dwb_critics
#endif  // DWB_CRITICS__PATH_ALIGN_HPP_