Scores trajectories based on how far from the global path the front of the robot ends up. More...

#include <path_align.h>

Inheritance diagram for dwb_critics::PathAlignCritic:

Public Member Functions
double	getScale () const override

void	onInit () override

	PathAlignCritic ()

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

double	scorePose (const geometry_msgs::Pose2D &pose) override
	Retrieve the score for a single pose. More...

Public Member Functions inherited from dwb_critics::PathDistCritic
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	getScore (unsigned int x, unsigned int y)
	Retrieve the score for a particular cell of the costmap. More...

	MapGridCritic ()

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 Attributes
double	forward_point_distance_

bool	zero_scale_

Protected Attributes inherited from dwb_critics::MapGridCritic
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

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 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...

Detailed Description

Scores trajectories based on how far from the global path the front of the robot ends up.

This uses the costmap grid as a proxy for calculating which way the robot should be facing relative to the global path. Instead of scoring how far the center of the robot is away from the global path, this critic calculates how far a point forward_point_distance in front of the robot is from the global path. This biases the planner toward trajectories that line up with the global plan.

When the robot is near the end of the path, the scale of this critic is set to zero. When the projected point is past the global goal, we no longer want this critic to try to align to a part of the global path that isn't there.

Definition at line 56 of file path_align.h.

Constructor & Destructor Documentation

dwb_critics::PathAlignCritic::PathAlignCritic ( )

inline

Definition at line 59 of file path_align.h.

Member Function Documentation

double dwb_critics::PathAlignCritic::getScale ( ) const

overridevirtual

Reimplemented from dwb_critics::MapGridCritic.

Definition at line 72 of file path_align.cpp.

void dwb_critics::PathAlignCritic::onInit ( )

overridevirtual

Reimplemented from dwb_critics::MapGridCritic.

Definition at line 44 of file path_align.cpp.

bool dwb_critics::PathAlignCritic::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 51 of file path_align.cpp.

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

overridevirtual

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 from dwb_critics::MapGridCritic.

Definition at line 80 of file path_align.cpp.

Member Data Documentation

double dwb_critics::PathAlignCritic::forward_point_distance_

protected

Definition at line 67 of file path_align.h.

bool dwb_critics::PathAlignCritic::zero_scale_

protected

Definition at line 66 of file path_align.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation