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Fix score in follow-the-path
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Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
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caguero committed Oct 13, 2023
1 parent f5667af commit c9bae5f
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Showing 2 changed files with 0 additions and 15 deletions.
12 changes: 0 additions & 12 deletions vrx_gz/src/NavigationScoringPlugin.cc
Original file line number Diff line number Diff line change
Expand Up @@ -367,11 +367,6 @@ void NavigationScoringPlugin::Configure(const sim::Entity &_entity,
return;
}

// Set default score in case of timeout.
double timeoutScore = 200;
gzmsg << "Setting timeoutScore = " << timeoutScore << std::endl;
this->ScoringPlugin::SetTimeoutScore(timeoutScore);

gzmsg << "Task [" << this->TaskName() << "]" << std::endl;
}

Expand Down Expand Up @@ -534,13 +529,6 @@ void NavigationScoringPlugin::PreUpdate( const sim::UpdateInfo &_info,
}
}

//////////////////////////////////////////////////
void NavigationScoringPlugin::Fail()
{
ScoringPlugin::SetScore(ScoringPlugin::TimeoutScore());
ScoringPlugin::Finish();
}

GZ_ADD_PLUGIN(vrx::NavigationScoringPlugin,
sim::System,
vrx::NavigationScoringPlugin::ISystemConfigure,
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3 changes: 0 additions & 3 deletions vrx_gz/src/NavigationScoringPlugin.hh
Original file line number Diff line number Diff line change
Expand Up @@ -104,9 +104,6 @@ namespace vrx
public: void PreUpdate(const gz::sim::UpdateInfo &_info,
gz::sim::EntityComponentManager &_ecm) override;

/// \brief Set the score to 0 and change to state to "finish".
protected: void Fail();

/// \brief Private data pointer.
GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
};
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