Class PreferForwardCritic
Defined in File prefer_forward.hpp
Inheritance Relationships
Base Type
public dwb_core::TrajectoryCritic
Class Documentation
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class PreferForwardCritic : public dwb_core::TrajectoryCritic
Penalize trajectories with move backwards and/or turn too much.
Has three different scoring conditions: 1) If the trajectory’s x velocity is negative, return the penalty 2) If the trajectory’s x is low and the theta is also low, return the penalty. 3) Otherwise, return a scaled version of the trajectory’s theta.