dwb_critics::BaseObstacleCritic Class Reference

Uses costmap to assign negative costs if a circular robot would collide at any point of the trajectory. More...

#include <base_obstacle.h>

Inheritance diagram for dwb_critics::BaseObstacleCritic:

Public Member Functions
void	addCriticVisualization (sensor_msgs::PointCloud &pc) override
virtual bool	isValidCost (const unsigned char cost)
	Check to see whether a given cell cost is valid for driving through. More...
void	onInit () override
virtual double	scorePose (const nav_core2::Costmap &costmap, const geometry_msgs::Pose2D &pose)
	Return the obstacle score for a particular pose. More...
double	scoreTrajectory (const dwb_msgs::Trajectory2D &traj) override
Public Member Functions inherited from dwb_local_planner::TrajectoryCritic
virtual void	debrief (const nav_2d_msgs::Twist2D &cmd_vel)
std::string	getName ()
virtual double	getScale () const
void	initialize (const ros::NodeHandle &planner_nh, std::string name, nav_core2::Costmap::Ptr costmap)
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)
virtual void	reset ()
void	setScale (const double scale)
virtual	~TrajectoryCritic ()

Protected Attributes
bool	sum_scores_
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

Detailed Description

Uses costmap to assign negative costs if a circular robot would collide at any point of the trajectory.

This class can only be used to figure out if a circular robot is in collision. If the cell corresponding with any of the poses in the Trajectory is an obstacle, inscribed obstacle or unknown, it will return a negative cost. Otherwise it will return either the final pose's cost, or the sum of all poses, depending on the sum_scores parameter.

Other classes (like ObstacleFootprintCritic) can do more advanced checking for collisions.

Definition at line 53 of file base_obstacle.h.

Member Function Documentation

void dwb_critics::BaseObstacleCritic::addCriticVisualization ( sensor_msgs::PointCloud &  pc )

overridevirtual

Reimplemented from dwb_local_planner::TrajectoryCritic.

Definition at line 81 of file base_obstacle.cpp.

bool dwb_critics::BaseObstacleCritic::isValidCost ( const unsigned char  cost )

virtual

Check to see whether a given cell cost is valid for driving through.

Parameters

cost	Cost of the cell

Returns

Return true if valid cell

Definition at line 74 of file base_obstacle.cpp.

void dwb_critics::BaseObstacleCritic::onInit ( )

overridevirtual

Reimplemented from dwb_local_planner::TrajectoryCritic.

Reimplemented in dwb_critics::ObstacleFootprintCritic.

Definition at line 45 of file base_obstacle.cpp.

double dwb_critics::BaseObstacleCritic::scorePose ( const nav_core2::Costmap &  costmap, const geometry_msgs::Pose2D &  pose  )

virtual

Return the obstacle score for a particular pose.

Parameters

costmap	Dereferenced costmap
pose	Pose to check

Reimplemented in dwb_critics::ObstacleFootprintCritic.

Definition at line 63 of file base_obstacle.cpp.

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

overridevirtual

Implements dwb_local_planner::TrajectoryCritic.

Definition at line 50 of file base_obstacle.cpp.

Member Data Documentation

bool dwb_critics::BaseObstacleCritic::sum_scores_

protected

Definition at line 75 of file base_obstacle.h.

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

• base_obstacle.h
• base_obstacle.cpp