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. More...
#include <path_dist_pruned.h>
Inheritance diagram for mir_dwb_critics::PathDistPrunedCritic:
Public Member Functions | |
| virtual 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) |
| MapGridCritic () | |
| void | onInit () override |
| virtual double | scorePose (const geometry_msgs::Pose2D &pose) |
| double | scoreTrajectory (const dwb_msgs::Trajectory2D &traj) override |
| void | setAsObstacle (unsigned int x, unsigned int y) |
| 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::TrajectoryCritic > | Ptr |
| Protected Types inherited from dwb_critics::MapGridCritic | |
| enum | ScoreAggregationType { ScoreAggregationType::Last, ScoreAggregationType::Sum, ScoreAggregationType::Product } |
| Protected Member Functions inherited from dwb_critics::MapGridCritic | |
| void | propogateManhattanDistances () |
| void | reset () override |
| 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_ |
| 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, where the global path is pruned to only include waypoints ahead of the robot.
Definition at line 48 of file path_dist_pruned.h.
Member Function Documentation
|
overridevirtual |
Reimplemented from dwb_critics::PathDistCritic.
Definition at line 41 of file path_dist_pruned.cpp.
The documentation for this class was generated from the following files: