Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
| ▼Ndwb_critics | |
| CBaseObstacleCritic | Uses costmap to assign negative costs if a circular robot would collide at any point of the trajectory |
| CGoalAlignCritic | Scores trajectories based on whether the robot ends up pointing toward the eventual goal |
| CGoalDistCritic | Scores trajectories based on how far along the global path they end up |
| ▼CMapGridCritic | Breadth-first scoring of all the cells in the costmap |
| CMapGridQueue | Subclass of CostmapQueue that avoids Obstacles and Unknown Values |
| CObstacleFootprintCritic | Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory |
| ▼COscillationCritic | Checks to see whether the sign of the commanded velocity flips frequently |
| CCommandTrend | Helper class for performing the same logic on the x,y and theta dimensions |
| CPathAlignCritic | Scores trajectories based on how far from the global path the front of the robot ends up |
| CPathDistCritic | Scores trajectories based on how far from the global path they end up |
| CPreferForwardCritic | Penalize trajectories with move backwards and/or turn too much |
| CRotateToGoalCritic | Forces the commanded trajectories to only be rotations if within a certain distance window |
| CTwirlingCritic | Penalize trajectories with rotational velocities |