Class TwirlingCritic
Defined in File twirling.hpp
Inheritance Relationships
Base Type
public dwb_core::TrajectoryCritic
Class Documentation
-
class TwirlingCritic : public dwb_core::TrajectoryCritic
Penalize trajectories with rotational velocities.
This class provides a cost based on how much a robot “twirls” on its way to the goal. With differential-drive robots, there isn’t a choice, but with holonomic or near-holonomic robots, sometimes a robot spins more than you’d like on its way to a goal. This class provides a way to assign a penalty purely to rotational velocities.