Class PathAlignLegacyCritic

• Defined in File path_align_legacy_critic.hpp

Inheritance Relationships

Base Type

• public mppi::critics::CriticFunction (Class CriticFunction)

Class Documentation

class PathAlignLegacyCritic : public mppi::critics::CriticFunction

Critic objective function for aligning to the path. Note: High settings of this will follow the path more precisely, but also makes it difficult (or impossible) to deviate in the presence of dynamic obstacles. This is an important critic to tune and consider in tandem with Obstacle. This is the initial ‘Legacy’ implementation before replacement Oct 2023.

Public Functions

virtual void initialize() override

Initialize critic.

virtual void score(CriticData &data) override

Evaluate cost related to trajectories path alignment.

Parameters:

costs – [out] add reference cost values to this tensor

Protected Attributes

size_t offset_from_furthest_ = {0}

int trajectory_point_step_ = {0}

float threshold_to_consider_ = {0}

float max_path_occupancy_ratio_ = {0}

bool use_path_orientations_ = {false}

unsigned int power_ = {0}

float weight_ = {0}