Class PathAngleCritic

• Defined in File path_angle_critic.hpp

Inheritance Relationships

Base Type

• public mppi::critics::CriticFunction (Class CriticFunction)

Class Documentation

class PathAngleCritic : public mppi::critics::CriticFunction

Public Functions

virtual void initialize() override

Initialize critic.

virtual void score(CriticData &data) override

Evaluate cost related to robot orientation at goal pose (considered only if robot near last goal in current plan)

Parameters:

costs – [out] add goal angle cost values to this tensor

Protected Attributes

float max_angle_to_furthest_ = {0}

float threshold_to_consider_ = {0}

size_t offset_from_furthest_ = {0}

bool reversing_allowed_ = {true}

PathAngleMode mode_ = {0}

unsigned int power_ = {0}

float weight_ = {0}