Scores trajectories based on how far from the global path the front of the robot ends up. More...
#include <path_align.h>
Public Member Functions | |
| double | getScale () const override |
| void | onInit () override |
| PathAlignCritic () | |
| bool | prepare (const geometry_msgs::Pose2D &pose, const nav_2d_msgs::Twist2D &vel, const geometry_msgs::Pose2D &goal, const nav_2d_msgs::Path2D &global_plan) override |
| double | scorePose (const geometry_msgs::Pose2D &pose) override |
| Retrieve the score for a single pose. | |
Protected Attributes | |
| double | forward_point_distance_ |
| bool | zero_scale_ |
Detailed Description
Scores trajectories based on how far from the global path the front of the robot ends up.
This uses the costmap grid as a proxy for calculating which way the robot should be facing relative to the global path. Instead of scoring how far the center of the robot is away from the global path, this critic calculates how far a point forward_point_distance in front of the robot is from the global path. This biases the planner toward trajectories that line up with the global plan.
When the robot is near the end of the path, the scale of this critic is set to zero. When the projected point is past the global goal, we no longer want this critic to try to align to a part of the global path that isn't there.
Definition at line 56 of file path_align.h.
Constructor & Destructor Documentation
| dwb_critics::PathAlignCritic::PathAlignCritic | ( | ) | [inline] |
Definition at line 59 of file path_align.h.
Member Function Documentation
| double dwb_critics::PathAlignCritic::getScale | ( | ) | const [override, virtual] |
Reimplemented from dwb_critics::MapGridCritic.
Definition at line 72 of file path_align.cpp.
| void dwb_critics::PathAlignCritic::onInit | ( | ) | [override, virtual] |
Reimplemented from dwb_critics::MapGridCritic.
Definition at line 44 of file path_align.cpp.
| bool dwb_critics::PathAlignCritic::prepare | ( | const geometry_msgs::Pose2D & | pose, |
| const nav_2d_msgs::Twist2D & | vel, | ||
| const geometry_msgs::Pose2D & | goal, | ||
| const nav_2d_msgs::Path2D & | global_plan | ||
| ) | [override, virtual] |
Reimplemented from dwb_critics::PathDistCritic.
Definition at line 51 of file path_align.cpp.
| double dwb_critics::PathAlignCritic::scorePose | ( | const geometry_msgs::Pose2D & | pose | ) | [override, virtual] |
Retrieve the score for a single pose.
- Parameters:
-
pose The pose to score, assumed to be in the same frame as the costmap
- Returns:
- The score associated with the cell of the costmap where the pose lies
Reimplemented from dwb_critics::MapGridCritic.
Definition at line 80 of file path_align.cpp.
Member Data Documentation
double dwb_critics::PathAlignCritic::forward_point_distance_ [protected] |
Definition at line 67 of file path_align.h.
bool dwb_critics::PathAlignCritic::zero_scale_ [protected] |
Definition at line 66 of file path_align.h.
The documentation for this class was generated from the following files: