mir_dwb_critics Namespace Reference

Classes
class	PathAngleCritic
	Scores trajectories based on the difference between the path's current angle and the trajectory's angle. More...
class	PathDistPrunedCritic
	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...
class	PathProgressCritic
	Calculates an intermediate goal along the global path and scores trajectories on the distance to that goal. More...