Class PenaltyScorer

• Defined in File penalty_scorer.hpp

Inheritance Relationships

Base Type

• public nav2_route::EdgeCostFunction (Class EdgeCostFunction)

Class Documentation

class PenaltyScorer : public nav2_route::EdgeCostFunction

Adjusts the score of an edge by an amount set as metadata in the graph.

Public Functions

PenaltyScorer() = default

Constructor.

virtual ~PenaltyScorer() = default

destructor

virtual void configure(const rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::shared_ptr<tf2_ros::Buffer> tf_buffer, std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber, const std::string &name) override

Configure.

virtual bool score(const EdgePtr edge, const RouteRequest &route_request, const EdgeType &edge_type, float &cost) override

Main scoring plugin API.

Parameters:

• edge – The edge pointer to score, which has access to the start/end nodes and their associated metadata and actions

• cost – of the edge scored

Returns:

bool if this edge is open valid to traverse

virtual std::string getName() override

Get name of the plugin for parameter scope mapping.

Returns:

Name

Protected Attributes

std::string name_

std::string penalty_tag_

float weight_