Classes | Functions
dwb_critics Namespace Reference

Classes

class  BaseObstacleCritic
 Uses costmap to assign negative costs if a circular robot would collide at any point of the trajectory. More...
 
class  GoalAlignCritic
 Scores trajectories based on whether the robot ends up pointing toward the eventual goal. More...
 
class  GoalDistCritic
 Scores trajectories based on how far along the global path they end up. More...
 
class  MapGridCritic
 breadth-first scoring of all the cells in the costmap More...
 
class  ObstacleFootprintCritic
 Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory. More...
 
class  OscillationCritic
 Checks to see whether the sign of the commanded velocity flips frequently. More...
 
class  PathAlignCritic
 Scores trajectories based on how far from the global path the front of the robot ends up. More...
 
class  PathDistCritic
 Scores trajectories based on how far from the global path they end up. More...
 
class  PreferForwardCritic
 Penalize trajectories with move backwards and/or turn too much. More...
 
class  RotateToGoalCritic
 Forces the commanded trajectories to only be rotations if within a certain distance window. More...
 
class  TwirlingCritic
 Penalize trajectories with rotational velocities. More...
 

Functions

geometry_msgs::Pose2D getForwardPose (const geometry_msgs::Pose2D &pose, double distance)
 Projects the given pose forward the specified distance in the x direction. More...
 
double hypot_sq (double dx, double dy)
 

Function Documentation

geometry_msgs::Pose2D dwb_critics::getForwardPose ( const geometry_msgs::Pose2D &  pose,
double  distance 
)

Projects the given pose forward the specified distance in the x direction.

Parameters
poseInput pose
distancedistance to move (in meters)
Returns
Pose distance meters in front of input pose.

(used in both path_align and dist_align)

Definition at line 39 of file alignment_util.cpp.

double dwb_critics::hypot_sq ( double  dx,
double  dy 
)
inline

Definition at line 50 of file rotate_to_goal.cpp.



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