Calculates an intermediate goal along the global path and scores trajectories on the distance to that goal. More...
#include <path_progress.h>
Public Member Functions | |
| void | onInit () override |
| 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 |
| void | reset () override |
| double | scoreTrajectory (const dwb_msgs::Trajectory2D &traj) override |
Protected Member Functions | |
| unsigned int | getGoalIndex (const std::vector< geometry_msgs::Pose2D > &plan, unsigned int start_index, unsigned int last_valid_index) const |
| bool | getGoalPose (const geometry_msgs::Pose2D &robot_pose, const nav_2d_msgs::Path2D &global_plan, unsigned int &x, unsigned int &y, double &desired_angle) |
Protected Attributes | |
| double | angle_threshold_ |
| double | desired_angle_ |
| double | heading_scale_ |
| std::vector < geometry_msgs::Pose2D > | reached_intermediate_goals_ |
| double | xy_local_goal_tolerance_ |
Detailed Description
Calculates an intermediate goal along the global path and scores trajectories on the distance to that goal.
This trajectory critic helps ensure progress along the global path. It calculates an intermediate goal that is as far as possible along the global path as long as the path continues to move in one direction (+/- angle_threshold).
Definition at line 50 of file path_progress.h.
Member Function Documentation
| unsigned int mir_dwb_critics::PathProgressCritic::getGoalIndex | ( | const std::vector< geometry_msgs::Pose2D > & | plan, |
| unsigned int | start_index, | ||
| unsigned int | last_valid_index | ||
| ) | const [protected] |
Definition at line 190 of file path_progress.cpp.
| bool mir_dwb_critics::PathProgressCritic::getGoalPose | ( | const geometry_msgs::Pose2D & | robot_pose, |
| const nav_2d_msgs::Path2D & | global_plan, | ||
| unsigned int & | x, | ||
| unsigned int & | y, | ||
| double & | desired_angle | ||
| ) | [protected] |
Definition at line 82 of file path_progress.cpp.
| void mir_dwb_critics::PathProgressCritic::onInit | ( | ) | [override, virtual] |
Reimplemented from dwb_critics::MapGridCritic.
Definition at line 60 of file path_progress.cpp.
| bool mir_dwb_critics::PathProgressCritic::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_local_planner::TrajectoryCritic.
Definition at line 41 of file path_progress.cpp.
| void mir_dwb_critics::PathProgressCritic::reset | ( | ) | [override, virtual] |
Reimplemented from dwb_critics::MapGridCritic.
Definition at line 70 of file path_progress.cpp.
| double mir_dwb_critics::PathProgressCritic::scoreTrajectory | ( | const dwb_msgs::Trajectory2D & | traj | ) | [override, virtual] |
Reimplemented from dwb_critics::MapGridCritic.
Definition at line 74 of file path_progress.cpp.
Member Data Documentation
double mir_dwb_critics::PathProgressCritic::angle_threshold_ [protected] |
Definition at line 73 of file path_progress.h.
double mir_dwb_critics::PathProgressCritic::desired_angle_ [protected] |
Definition at line 77 of file path_progress.h.
double mir_dwb_critics::PathProgressCritic::heading_scale_ [protected] |
Definition at line 74 of file path_progress.h.
std::vector<geometry_msgs::Pose2D> mir_dwb_critics::PathProgressCritic::reached_intermediate_goals_ [protected] |
Definition at line 76 of file path_progress.h.
double mir_dwb_critics::PathProgressCritic::xy_local_goal_tolerance_ [protected] |
Definition at line 72 of file path_progress.h.
The documentation for this class was generated from the following files: