Calculates an intermediate goal along the global path and scores trajectories on the distance to that goal. More...

#include <path_progress.h>

Inheritance diagram for mir_dwb_critics::PathProgressCritic:

Public Member Functions
void	onInit () override

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

void	reset () override

double	scoreTrajectory (const dwb_msgs::Trajectory2D &traj) 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 ()

virtual double	scorePose (const geometry_msgs::Pose2D &pose)

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 ()

Protected Member Functions
unsigned int	getGoalIndex (const std::vector< geometry_msgs::Pose2D > &plan, unsigned int start_index, unsigned int last_valid_index) const

bool	getGoalPose (const geometry_msgs::Pose2D &robot_pose, const nav_2d_msgs::Path2D &global_plan, unsigned int &x, unsigned int &y, double &desired_angle)

Protected Member Functions inherited from dwb_critics::MapGridCritic
void	propogateManhattanDistances ()

Protected Attributes
double	angle_threshold_

double	desired_angle_

double	heading_scale_

std::vector< geometry_msgs::Pose2D >	reached_intermediate_goals_

double	xy_local_goal_tolerance_

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_

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 }

Detailed Description

Calculates an intermediate goal along the global path and scores trajectories on the distance to that goal.

This trajectory critic helps ensure progress along the global path. It calculates an intermediate goal that is as far as possible along the global path as long as the path continues to move in one direction (+/- angle_threshold).

Definition at line 50 of file path_progress.h.

Member Function Documentation

unsigned int mir_dwb_critics::PathProgressCritic::getGoalIndex	(	const std::vector< geometry_msgs::Pose2D > &	plan,
		unsigned int	start_index,
		unsigned int	last_valid_index
	)		const

protected

Definition at line 190 of file path_progress.cpp.

bool mir_dwb_critics::PathProgressCritic::getGoalPose	(	const geometry_msgs::Pose2D &	robot_pose,
		const nav_2d_msgs::Path2D &	global_plan,
		unsigned int &	x,
		unsigned int &	y,
		double &	desired_angle
	)

protected

Definition at line 82 of file path_progress.cpp.

void mir_dwb_critics::PathProgressCritic::onInit ( )

overridevirtual

Reimplemented from dwb_critics::MapGridCritic.

Definition at line 60 of file path_progress.cpp.

bool mir_dwb_critics::PathProgressCritic::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 41 of file path_progress.cpp.

void mir_dwb_critics::PathProgressCritic::reset ( )

overridevirtual

Reimplemented from dwb_critics::MapGridCritic.

Definition at line 70 of file path_progress.cpp.

double mir_dwb_critics::PathProgressCritic::scoreTrajectory ( const dwb_msgs::Trajectory2D & traj )

overridevirtual

Reimplemented from dwb_critics::MapGridCritic.

Definition at line 74 of file path_progress.cpp.

Member Data Documentation

double mir_dwb_critics::PathProgressCritic::angle_threshold_

protected

Definition at line 73 of file path_progress.h.

double mir_dwb_critics::PathProgressCritic::desired_angle_

protected

Definition at line 77 of file path_progress.h.

double mir_dwb_critics::PathProgressCritic::heading_scale_

protected

Definition at line 74 of file path_progress.h.

std::vector<geometry_msgs::Pose2D> mir_dwb_critics::PathProgressCritic::reached_intermediate_goals_

protected

Definition at line 76 of file path_progress.h.

double mir_dwb_critics::PathProgressCritic::xy_local_goal_tolerance_

protected

Definition at line 72 of file path_progress.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

Member Data Documentation