Public Member Functions | Protected Member Functions | List of all members
dwb_critics::GoalDistCritic Class Reference

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

#include <goal_dist.h>

Inheritance diagram for dwb_critics::GoalDistCritic:
Inheritance graph
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Public Member Functions

bool prepare (const geometry_msgs::Pose2D &pose, const nav_2d_msgs::Twist2D &vel, const geometry_msgs::Pose2D &goal, const nav_2d_msgs::Path2D &global_plan) override
 
- Public Member Functions inherited from dwb_critics::MapGridCritic
void addCriticVisualization (sensor_msgs::PointCloud &pc) override
 
double getScale () const override
 
double getScore (unsigned int x, unsigned int y)
 Retrieve the score for a particular cell of the costmap. More...
 
 MapGridCritic ()
 
void onInit () override
 
virtual double scorePose (const geometry_msgs::Pose2D &pose)
 Retrieve the score for a single pose. More...
 
double scoreTrajectory (const dwb_msgs::Trajectory2D &traj) override
 
void setAsObstacle (unsigned int x, unsigned int y)
 Sets the score of a particular cell to the obstacle cost. More...
 
- Public Member Functions inherited from dwb_local_planner::TrajectoryCritic
virtual void debrief (const nav_2d_msgs::Twist2D &cmd_vel)
 
std::string getName ()
 
void initialize (const ros::NodeHandle &planner_nh, std::string name, nav_core2::Costmap::Ptr costmap)
 
void setScale (const double scale)
 
virtual ~TrajectoryCritic ()
 

Protected Member Functions

bool getLastPoseOnCostmap (const nav_2d_msgs::Path2D &global_plan, unsigned int &x, unsigned int &y)
 
- Protected Member Functions inherited from dwb_critics::MapGridCritic
void propogateManhattanDistances ()
 Go through the queue and set the cells to the Manhattan distance from their parents. More...
 
void reset () override
 Clear the queue and set cell_values_ to the appropriate number of unreachableCellScore. More...
 

Additional Inherited Members

- Public Types inherited from dwb_local_planner::TrajectoryCritic
typedef std::shared_ptr< dwb_local_planner::TrajectoryCriticPtr
 
- Protected Types inherited from dwb_critics::MapGridCritic
enum  ScoreAggregationType { ScoreAggregationType::Last, ScoreAggregationType::Sum, ScoreAggregationType::Product }
 Separate modes for aggregating scores across the multiple poses in a trajectory. More...
 
- Protected Attributes inherited from dwb_critics::MapGridCritic
ScoreAggregationType aggregationType_
 
nav_grid::VectorNavGrid< double > cell_values_
 
double obstacle_score_
 
std::shared_ptr< MapGridQueuequeue_
 
bool stop_on_failure_
 
double unreachable_score_
 Special cell_values. More...
 
- Protected Attributes inherited from dwb_local_planner::TrajectoryCritic
nav_core2::Costmap::Ptr costmap_
 
ros::NodeHandle critic_nh_
 
std::string name_
 
ros::NodeHandle planner_nh_
 
double scale_
 

Detailed Description

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

This trajectory critic helps ensure progress along the global path. It finds the pose from the global path farthest from the robot that is still on the costmap, and aims for that point by assigning the lowest cost to the cell corresponding with that farthest pose.

Definition at line 50 of file goal_dist.h.

Member Function Documentation

bool dwb_critics::GoalDistCritic::getLastPoseOnCostmap ( const nav_2d_msgs::Path2D &  global_plan,
unsigned int &  x,
unsigned int &  y 
)
protected

Definition at line 63 of file goal_dist.cpp.

bool dwb_critics::GoalDistCritic::prepare ( const geometry_msgs::Pose2D &  pose,
const nav_2d_msgs::Twist2D &  vel,
const geometry_msgs::Pose2D &  goal,
const nav_2d_msgs::Path2D &  global_plan 
)
overridevirtual

Reimplemented from dwb_local_planner::TrajectoryCritic.

Definition at line 42 of file goal_dist.cpp.


The documentation for this class was generated from the following files:


dwb_critics
Author(s): David V. Lu!!
autogenerated on Sun Jan 10 2021 04:08:44