heading_scoring heading_scoring_timestep and heading_lookahead

edit

Hi,

As mentioned in this question, I'm trying to smoothen the movements of my robot when moving along straight or almost straight paths.

I came across these three parameters on the base_local_planner page (heading_scoring; heading_scoring_timestep and heading_lookahead) but from the definition on the page, I am unable to guess what effect it will have on the robot. Does heading scoring mean that the robot will try to stick to the pose of the goal as much as possible? And what do the other two parameters mean and what effect do they have on this?

Thank you.

EDIT: The robot oscillates a lot while heading scoring is true even for straight paths