alignment_cost_function.h

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#ifndef base_local_planner_alignment_cost_function_h_
#define base_local_planner_alignment_cost_function_h_
 
#include "trajectory_cost_function.h"
#include <Eigen/Core>
 
namespace base_local_planner
{
 
class AlignmentCostFunction: public TrajectoryCostFunction
{
 
public:
 
  AlignmentCostFunction();
  virtual ~AlignmentCostFunction();
 
  double scoreTrajectory(Trajectory &traj);
 
  bool prepare() {return true;}
 
  void setDesiredOrientation(double theta) {theta_desired_ = theta;}
  double getDesiredOrientation() { return theta_desired_; }
 
private:
 
  double theta_desired_;
 
};
 
}// namespace
 
#endif