breadth-first scoring of all the cells in the costmap More...

#include <map_grid.h>

Inheritance diagram for dwb_critics::MapGridCritic:

[legend]

Classes
class	MapGridQueue
	Subclass of CostmapQueue that avoids Obstacles and Unknown Values. More...

Public Member Functions
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)

virtual 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)

void	setScale (const double scale)

virtual	~TrajectoryCritic ()

Protected Types
enum	ScoreAggregationType { ScoreAggregationType::Last, ScoreAggregationType::Sum, ScoreAggregationType::Product }
	Separate modes for aggregating scores across the multiple poses in a trajectory. More...

Protected Member Functions
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...

Protected Attributes
ScoreAggregationType	aggregationType_

nav_grid::VectorNavGrid< double >	cell_values_

double	obstacle_score_

std::shared_ptr< MapGridQueue >	queue_

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_

Additional Inherited Members
Public Types inherited from dwb_local_planner::TrajectoryCritic
typedef std::shared_ptr< dwb_local_planner::TrajectoryCritic >	Ptr

Detailed Description

breadth-first scoring of all the cells in the costmap

This TrajectoryCritic assigns a score to every cell in the costmap based on the distance to the cell from some set of source points. The cells corresponding with the source points are marked with some initial score, and then every other cell is updated with a score based on its relation to the closest source cell, based on a breadth-first exploration of the cells of the costmap.

This approach was chosen for computational efficiency, such that each trajectory need not be compared to the list of source points.

Definition at line 58 of file map_grid.h.

Member Enumeration Documentation

enum dwb_critics::MapGridCritic::ScoreAggregationType

strongprotected

Separate modes for aggregating scores across the multiple poses in a trajectory.

Last returns the score associated with the last pose in the trajectory Sum returns the sum of all the scores Product returns the product of all the (non-zero) scores

Enumerator
Last
Sum
Product

Definition at line 100 of file map_grid.h.

Constructor & Destructor Documentation

dwb_critics::MapGridCritic::MapGridCritic ( )

inline

Definition at line 61 of file map_grid.h.

Member Function Documentation

void dwb_critics::MapGridCritic::addCriticVisualization ( sensor_msgs::PointCloud & pc )

overridevirtual

Reimplemented from dwb_local_planner::TrajectoryCritic.

Definition at line 181 of file map_grid.cpp.

double dwb_critics::MapGridCritic::getScale ( ) const

inlineoverridevirtual

Reimplemented from dwb_local_planner::TrajectoryCritic.

Reimplemented in dwb_critics::PathAlignCritic.

Definition at line 67 of file map_grid.h.

double dwb_critics::MapGridCritic::getScore	(	unsigned int	x,
		unsigned int	y
	)

inline

Retrieve the score for a particular cell of the costmap.

Parameters

x	x-coordinate within the costmap
y	y-coordinate within the costmap

Returns: the score associated with that cell.

Definition at line 83 of file map_grid.h.

void dwb_critics::MapGridCritic::onInit ( )

overridevirtual

Reimplemented from dwb_local_planner::TrajectoryCritic.

Reimplemented in dwb_critics::PathAlignCritic.

Definition at line 60 of file map_grid.cpp.

void dwb_critics::MapGridCritic::propogateManhattanDistances ( )

protected

Go through the queue and set the cells to the Manhattan distance from their parents.

Definition at line 110 of file map_grid.cpp.

void dwb_critics::MapGridCritic::reset ( )

overrideprotectedvirtual

Clear the queue and set cell_values_ to the appropriate number of unreachableCellScore.

Reimplemented from dwb_local_planner::TrajectoryCritic.

Definition at line 94 of file map_grid.cpp.

double dwb_critics::MapGridCritic::scorePose ( const geometry_msgs::Pose2D & pose )

virtual

Retrieve the score for a single pose.

Parameters

pose	The pose to score, assumed to be in the same frame as the costmap

Returns: The score associated with the cell of the costmap where the pose lies

Reimplemented in dwb_critics::PathAlignCritic, and dwb_critics::GoalAlignCritic.

Definition at line 170 of file map_grid.cpp.

double dwb_critics::MapGridCritic::scoreTrajectory ( const dwb_msgs::Trajectory2D & traj )

overridevirtual

Implements dwb_local_planner::TrajectoryCritic.

Definition at line 121 of file map_grid.cpp.

void dwb_critics::MapGridCritic::setAsObstacle	(	unsigned int	x,
		unsigned int	y
	)

Sets the score of a particular cell to the obstacle cost.

Parameters

x	X coordinate of cell
y	Y coordinate of cell

Definition at line 89 of file map_grid.cpp.

Member Data Documentation

ScoreAggregationType dwb_critics::MapGridCritic::aggregationType_

protected

Definition at line 130 of file map_grid.h.

nav_grid::VectorNavGrid<double> dwb_critics::MapGridCritic::cell_values_

protected

Definition at line 127 of file map_grid.h.

double dwb_critics::MapGridCritic::obstacle_score_

protected

Definition at line 128 of file map_grid.h.

std::shared_ptr<MapGridQueue> dwb_critics::MapGridCritic::queue_

protected

Definition at line 126 of file map_grid.h.

bool dwb_critics::MapGridCritic::stop_on_failure_

protected

Definition at line 129 of file map_grid.h.

double dwb_critics::MapGridCritic::unreachable_score_

protected

Special cell_values.

Definition at line 128 of file map_grid.h.

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

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation