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

pose	Input pose
distance	distance 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.