Class TwirlingCritic

• Defined in File twirling.hpp

Inheritance Relationships

Base Type

• public dwb_core::TrajectoryCritic

Class Documentation

class TwirlingCritic : public dwb_core::TrajectoryCritic

Penalize trajectories with rotational velocities.

This class provides a cost based on how much a robot “twirls” on its way to the goal. With differential-drive robots, there isn’t a choice, but with holonomic or near-holonomic robots, sometimes a robot spins more than you’d like on its way to a goal. This class provides a way to assign a penalty purely to rotational velocities.

Public Functions

void onInit() override

double scoreTrajectory(const dwb_msgs::msg::Trajectory2D &traj) override