Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 12]
| ▼Nmir_dwb_critics | |
| CPathAngleCritic | Scores trajectories based on the difference between the path's current angle and the trajectory's angle |
| CPathDistPrunedCritic | Scores trajectories based on how far from the global path they end up, where the global path is pruned to only include waypoints ahead of the robot |
| CPathProgressCritic | Calculates an intermediate goal along the global path and scores trajectories on the distance to that goal |