Class PathDistCritic

• Defined in File path_dist.hpp

Inheritance Relationships

Base Type

• public dwb_critics::MapGridCritic (Class MapGridCritic)

Derived Type

• public dwb_critics::PathAlignCritic (Class PathAlignCritic)

Class Documentation

class PathDistCritic : public dwb_critics::MapGridCritic

Scores trajectories based on how far from the global path they end up.

Subclassed by dwb_critics::PathAlignCritic

Public Functions

bool prepare(const geometry_msgs::msg::Pose2D &pose, const nav_2d_msgs::msg::Twist2D &vel, const geometry_msgs::msg::Pose2D &goal, const nav_2d_msgs::msg::Path2D &global_plan) override