cmd_vel_cost_function.h

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#ifndef base_local_planner_cmd_vel_cost_function_h_
#define base_local_planner_cmd_vel_cost_function_h_
 
#include "trajectory_cost_function.h"
#include <Eigen/Core>
 
namespace base_local_planner
{
 
class CmdVelCostFunction: public TrajectoryCostFunction
{
 
public:
 
  CmdVelCostFunction();
  virtual ~CmdVelCostFunction();
 
  double scoreTrajectory(Trajectory &traj);
 
  bool prepare() { return true; }
 
  void setCoefficients(double px, double nx, double py, double ny, double ptheta, double ntheta)
  {
    px_ = px;
    nx_ = nx;
    py_ = py;
    ny_ = ny;
    ptheta_ = ptheta;
    ntheta_ = ntheta;
  }
 
private:
 
  double px_, nx_, py_, ny_, ptheta_, ntheta_;
 
};
 
}// namespace
 
#endif