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//do we want to follow blindly if (simple_attractor_) { goal_dist = (x_i - global_plan_[global_plan_.size() -1].pose.position.x) * (x_i - global_plan_[global_plan_.size() -1].pose.position.x) + (y_i - global_plan_[global_plan_.size() -1].pose.position.y) * (y_i - global_plan_[global_plan_.size() -1].pose.position.y); } else {

hope this may help

//do we want to follow blindly if (simple_attractor_) { goal_dist = (x_i - global_plan_[global_plan_.size() -1].pose.position.x) * (x_i - global_plan_[global_plan_.size() -1].pose.position.x) + (y_i - global_plan_[global_plan_.size() -1].pose.position.y) * (y_i - global_plan_[global_plan_.size() -1].pose.position.y); } else {

source address:

https://kforge.ros.org/navigation/navigation/file/3e73451ec7aa/base_local_planner/src/costmap_model.cpp

hope this may help

I checked the sources and found this

//do we want to follow blindly
  if (simple_attractor_) {
   goal_dist = (x_i - global_plan_[global_plan_.size() -1].pose.position.x) * 
               (x_i - global_plan_[global_plan_.size() -1].pose.position.x) + 
               (y_i - global_plan_[global_plan_.size() -1].pose.position.y) * 
               (y_i - global_plan_[global_plan_.size() -1].pose.position.y);
   } else {
{

I checked the sources and found this

//do we want to follow blindly
  if (simple_attractor_) {
   goal_dist = (x_i - global_plan_[global_plan_.size() -1].pose.position.x) * 
               (x_i - global_plan_[global_plan_.size() -1].pose.position.x) + 
               (y_i - global_plan_[global_plan_.size() -1].pose.position.y) * 
               (y_i - global_plan_[global_plan_.size() -1].pose.position.y);
   } else {

source address:

this

hope this may help

I checked the sources and found this

//do we want to follow blindly
   if (simple_attractor_) {
    goal_dist = (x_i - global_plan_[global_plan_.size() -1].pose.position.x) * 
          (x_i - global_plan_[global_plan_.size() -1].pose.position.x) + 
           (y_i - global_plan_[global_plan_.size() -1].pose.position.y) * 
          (y_i - global_plan_[global_plan_.size() -1].pose.position.y);
    } else {

       bool update_path_and_goal_distances = true;

        // with heading scoring, we take into account heading diff, and also only score
       // path and goal distance for one point of the trajectory
       if (heading_scoring_) {
         if (time >= heading_scoring_timestep_ && time < heading_scoring_timestep_ + dt) {
            heading_diff = headingDiff(cell_x, cell_y, x_i, y_i, theta_i);
          } else {
           update_path_and_goal_distances = false;
       }
     }

source address:

this

hope this may help