CriticData
CriticData::state
CriticData::trajectories
CriticData::path
CriticData::costs
CriticData::model_dt
CriticData::fail_flag
CriticData::goal_checker
CriticData::motion_model
CriticData::path_pts_valid
CriticData::furthest_reached_path_point
Control
Control::vx
Control::vy
Control::wz
ControlConstraints
ControlConstraints::vx_max
ControlConstraints::vx_min
ControlConstraints::vy
ControlConstraints::wz
ControlSequence
ControlSequence::reset()
ControlSequence::vx
ControlSequence::vy
ControlSequence::wz
OptimizerSettings
OptimizerSettings::base_constraints
OptimizerSettings::constraints
OptimizerSettings::sampling_std
OptimizerSettings::model_dt
OptimizerSettings::temperature
OptimizerSettings::gamma
OptimizerSettings::batch_size
OptimizerSettings::time_steps
OptimizerSettings::iteration_count
OptimizerSettings::shift_control_sequence
OptimizerSettings::retry_attempt_limit
Path
Path::reset()
Path::x
Path::y
Path::yaws
SamplingStd
SamplingStd::vx
SamplingStd::vy
SamplingStd::wz
State
State::reset()
State::vx
State::vy
State::wz
State::cvx
State::cvy
State::cwz
State::pose
State::speed
AckermannMotionModel
AckermannMotionModel::AckermannMotionModel()
AckermannMotionModel::isHolonomic()
AckermannMotionModel::applyConstraints()
AckermannMotionModel::getMinTurningRadius()
CriticManager
CriticManager::CriticManager()
CriticManager::~CriticManager()
CriticManager::on_configure()
CriticManager::evalTrajectoriesScores()
CriticManager::getParams()
CriticManager::loadCritics()
CriticManager::getFullName()
CriticManager::parent_
CriticManager::costmap_ros_
CriticManager::name_
CriticManager::parameters_handler_
CriticManager::critic_names_
CriticManager::loader_
CriticManager::critics_
CriticManager::logger_
CollisionCost
CollisionCost::cost
CollisionCost::using_footprint
ConstraintCritic
ConstraintCritic::initialize()
ConstraintCritic::score()
ConstraintCritic::getMaxVelConstraint()
ConstraintCritic::getMinVelConstraint()
ConstraintCritic::power_
ConstraintCritic::weight_
ConstraintCritic::min_vel_
ConstraintCritic::max_vel_
CriticFunction
CriticFunction::CriticFunction()
CriticFunction::~CriticFunction()
CriticFunction::on_configure()
CriticFunction::score()
CriticFunction::initialize()
CriticFunction::getName()
CriticFunction::enabled_
CriticFunction::name_
CriticFunction::parent_name_
CriticFunction::parent_
CriticFunction::costmap_ros_
CriticFunction::costmap_
CriticFunction::parameters_handler_
CriticFunction::logger_
GoalAngleCritic
GoalAngleCritic::initialize()
GoalAngleCritic::score()
GoalAngleCritic::threshold_to_consider_
GoalAngleCritic::power_
GoalAngleCritic::weight_
GoalCritic
GoalCritic::initialize()
GoalCritic::score()
GoalCritic::power_
GoalCritic::weight_
GoalCritic::threshold_to_consider_
ObstaclesCritic
ObstaclesCritic::initialize()
ObstaclesCritic::score()
ObstaclesCritic::inCollision()
ObstaclesCritic::costAtPose()
ObstaclesCritic::distanceToObstacle()
ObstaclesCritic::findCircumscribedCost()
ObstaclesCritic::collision_checker_
ObstaclesCritic::consider_footprint_
ObstaclesCritic::collision_cost_
ObstaclesCritic::inflation_scale_factor_
ObstaclesCritic::inflation_radius_
ObstaclesCritic::possibly_inscribed_cost_
ObstaclesCritic::collision_margin_distance_
ObstaclesCritic::near_goal_distance_
ObstaclesCritic::circumscribed_cost_
ObstaclesCritic::circumscribed_radius_
ObstaclesCritic::power_
ObstaclesCritic::repulsion_weight_
ObstaclesCritic::critical_weight_
PathAlignCritic
PathAlignCritic::initialize()
PathAlignCritic::score()
PathAlignCritic::offset_from_furthest_
PathAlignCritic::trajectory_point_step_
PathAlignCritic::threshold_to_consider_
PathAlignCritic::max_path_occupancy_ratio_
PathAlignCritic::use_path_orientations_
PathAlignCritic::power_
PathAlignCritic::weight_
PathAlignLegacyCritic
PathAlignLegacyCritic::initialize()
PathAlignLegacyCritic::score()
PathAlignLegacyCritic::offset_from_furthest_
PathAlignLegacyCritic::trajectory_point_step_
PathAlignLegacyCritic::threshold_to_consider_
PathAlignLegacyCritic::max_path_occupancy_ratio_
PathAlignLegacyCritic::use_path_orientations_
PathAlignLegacyCritic::power_
PathAlignLegacyCritic::weight_
PathAngleCritic
PathAngleCritic::initialize()
PathAngleCritic::score()
PathAngleCritic::max_angle_to_furthest_
PathAngleCritic::threshold_to_consider_
PathAngleCritic::offset_from_furthest_
PathAngleCritic::reversing_allowed_
PathAngleCritic::forward_preference_
PathAngleCritic::power_
PathAngleCritic::weight_
PathFollowCritic
PathFollowCritic::initialize()
PathFollowCritic::score()
PathFollowCritic::threshold_to_consider_
PathFollowCritic::offset_from_furthest_
PathFollowCritic::power_
PathFollowCritic::weight_
PreferForwardCritic
PreferForwardCritic::initialize()
PreferForwardCritic::score()
PreferForwardCritic::power_
PreferForwardCritic::weight_
PreferForwardCritic::threshold_to_consider_
TwirlingCritic
TwirlingCritic::initialize()
TwirlingCritic::score()
TwirlingCritic::power_
TwirlingCritic::weight_
DiffDriveMotionModel
DiffDriveMotionModel::DiffDriveMotionModel()
DiffDriveMotionModel::isHolonomic()
Trajectories
Trajectories::reset()
Trajectories::x
Trajectories::y
Trajectories::yaws
MotionModel
MotionModel::MotionModel()
MotionModel::~MotionModel()
MotionModel::predict()
MotionModel::isHolonomic()
MotionModel::applyConstraints()
MPPIController
NoiseGenerator
NoiseGenerator::NoiseGenerator()
NoiseGenerator::initialize()
NoiseGenerator::shutdown()
NoiseGenerator::generateNextNoises()
NoiseGenerator::setNoisedControls()
NoiseGenerator::reset()
NoiseGenerator::noiseThread()
NoiseGenerator::generateNoisedControls()
NoiseGenerator::noises_vx_
NoiseGenerator::noises_vy_
NoiseGenerator::noises_wz_
NoiseGenerator::settings_
NoiseGenerator::is_holonomic_
NoiseGenerator::noise_thread_
NoiseGenerator::noise_cond_
NoiseGenerator::noise_lock_
NoiseGenerator::active_
NoiseGenerator::ready_
NoiseGenerator::regenerate_noises_
OmniMotionModel
OmniMotionModel::OmniMotionModel()
OmniMotionModel::isHolonomic()
Optimizer
Optimizer::Optimizer()
Optimizer::~Optimizer()
Optimizer::initialize()
Optimizer::shutdown()
Optimizer::evalControl()
Optimizer::getGeneratedTrajectories()
Optimizer::getOptimizedTrajectory()
Optimizer::setSpeedLimit()
Optimizer::reset()
Optimizer::optimize()
Optimizer::prepare()
Optimizer::getParams()
Optimizer::setMotionModel()
Optimizer::shiftControlSequence()
Optimizer::generateNoisedTrajectories()
Optimizer::applyControlSequenceConstraints()
Optimizer::updateStateVelocities()
Optimizer::updateInitialStateVelocities()
Optimizer::propagateStateVelocitiesFromInitials()
Optimizer::integrateStateVelocities()
Optimizer::updateControlSequence()
Optimizer::getControlFromSequenceAsTwist()
Optimizer::isHolonomic()
Optimizer::setOffset()
Optimizer::fallback()
Optimizer::parent_
Optimizer::costmap_ros_
Optimizer::costmap_
Optimizer::name_
Optimizer::motion_model_
Optimizer::parameters_handler_
Optimizer::critic_manager_
Optimizer::noise_generator_
Optimizer::settings_
Optimizer::state_
Optimizer::control_sequence_
Optimizer::control_history_
Optimizer::generated_trajectories_
Optimizer::path_
Optimizer::costs_
Optimizer::critics_data_
Optimizer::logger_
ParametersHandler
ParametersHandler::get_param_func_t
ParametersHandler::post_callback_t
ParametersHandler::pre_callback_t
ParametersHandler::ParametersHandler()
ParametersHandler::start()
ParametersHandler::dynamicParamsCallback()
ParametersHandler::getParamGetter()
ParametersHandler::addPostCallback()
ParametersHandler::addPreCallback()
ParametersHandler::setDynamicParamCallback()
ParametersHandler::getLock()
ParametersHandler::addDynamicParamCallback()
ParametersHandler::getParam()
ParametersHandler::setParam()
ParametersHandler::parameters_change_mutex_
ParametersHandler::logger_
ParametersHandler::on_set_param_handler_
ParametersHandler::node_
ParametersHandler::node_name_
ParametersHandler::verbose_
ParametersHandler::get_param_callbacks_
ParametersHandler::pre_callbacks_
ParametersHandler::post_callbacks_
ParametersHandler::as()
PathHandler
PathHandler::PathHandler()
PathHandler::~PathHandler()
PathHandler::initialize()
PathHandler::setPath()
PathHandler::getPath()
PathHandler::transformPath()
PathHandler::transformPose()
PathHandler::getMaxCostmapDist()
PathHandler::transformToGlobalPlanFrame()
PathHandler::getGlobalPlanConsideringBoundsInCostmapFrame()
PathHandler::prunePlan()
PathHandler::isWithinInversionTolerances()
PathHandler::name_
PathHandler::costmap_
PathHandler::tf_buffer_
PathHandler::parameters_handler_
PathHandler::global_plan_
PathHandler::global_plan_up_to_inversion_
PathHandler::logger_
PathHandler::max_robot_pose_search_dist_
PathHandler::prune_distance_
PathHandler::transform_tolerance_
PathHandler::inversion_xy_tolerance_
PathHandler::inversion_yaw_tolerance
PathHandler::enforce_path_inversion_
PathHandler::inversion_locale_
TrajectoryVisualizer
TrajectoryVisualizer::TrajectoryVisualizer()
TrajectoryVisualizer::on_configure()
TrajectoryVisualizer::on_cleanup()
TrajectoryVisualizer::on_activate()
TrajectoryVisualizer::on_deactivate()
TrajectoryVisualizer::add()
TrajectoryVisualizer::visualize()
TrajectoryVisualizer::reset()
TrajectoryVisualizer::frame_id_
TrajectoryVisualizer::trajectories_publisher_
TrajectoryVisualizer::transformed_path_pub_
TrajectoryVisualizer::points_
TrajectoryVisualizer::marker_id_
TrajectoryVisualizer::parameters_handler_
TrajectoryVisualizer::trajectory_step_
TrajectoryVisualizer::time_step_
TrajectoryVisualizer::logger_
MPPIController::MPPIController()
MPPIController::configure()
MPPIController::cleanup()
MPPIController::activate()
MPPIController::deactivate()
MPPIController::reset()
MPPIController::computeVelocityCommands()
MPPIController::setPlan()
MPPIController::setSpeedLimit()
MPPIController::visualize()
MPPIController::name_
MPPIController::parent_
MPPIController::clock_
MPPIController::logger_
MPPIController::costmap_ros_
MPPIController::tf_buffer_
MPPIController::parameters_handler_
MPPIController::optimizer_
MPPIController::path_handler_
MPPIController::trajectory_visualizer_
MPPIController::visualize_
MPPIController::reset_period_
MPPIController::last_time_called_
Parameter
ParameterType
ParameterType::Dynamic
ParameterType::Static
createColor()
createMarker()
createPose()
createScale()
findClosestPathPt()
findFirstPathInversion()
findPathCosts()
findPathFurthestReachedPoint()
findPathTrajectoryInitialPoint()
normalize_angles()
posePointAngle()
removePosesAfterFirstInversion()
savitskyGolayFilter()
setPathCostsIfNotSet()
setPathFurthestPointIfNotSet()
shortest_angular_distance()
toTensor()
toTwistStamped()
withinPositionGoalTolerance()
PathIterator
PathRange
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/constraint_critic.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/constraints.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_angle_critic.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/optimizer_settings.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/parameters_handler.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_align_critic.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_align_legacy_critic.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_angle_critic.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_follow_critic.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/path_handler.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/prefer_forward_critic.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/twirling_critic.hpp
/tmp/ws/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp
Contents
Classes
Class MPPIController