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

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

#include <path_dist.h>

Inheritance diagram for dwb_critics::PathDistCritic:
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 ()
 

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 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...
 
- 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 from the global path they end up.

Definition at line 45 of file path_dist.h.

Member Function Documentation

bool dwb_critics::PathDistCritic::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 path_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