Class BaseObstacleCritic
Defined in File base_obstacle.hpp
Inheritance Relationships
Base Type
public dwb_core::TrajectoryCritic
Derived Type
public dwb_critics::ObstacleFootprintCritic(Class ObstacleFootprintCritic)
Class Documentation
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class BaseObstacleCritic : public dwb_core::TrajectoryCritic
Uses costmap 2d to assign negative costs if a circular robot would collide at any point of the trajectory.
This class can only be used to figure out if a circular robot is in collision. If the cell corresponding with any of the poses in the Trajectory is an obstacle, inscribed obstacle or unknown, it will return a negative cost. Otherwise it will return either the final pose’s cost, or the sum of all poses, depending on the sum_scores parameter.
Other classes (like ObstacleFootprintCritic) can do more advanced checking for collisions.
Subclassed by dwb_critics::ObstacleFootprintCritic
Public Functions
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void onInit() override
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virtual double scoreTrajectory(const dwb_msgs::msg::Trajectory2D &traj) override
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virtual void addCriticVisualization(std::vector<std::pair<std::string, std::vector<float>>> &cost_channels) override
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virtual double scorePose(const geometry_msgs::msg::Pose2D &pose)
Return the obstacle score for a particular pose.
- Parameters:
pose – Pose to check
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virtual bool isValidCost(const unsigned char cost)
Check to see whether a given cell cost is valid for driving through.
- Parameters:
cost – Cost of the cell
- Returns:
Return true if valid cell
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void onInit() override