Scores trajectories based on whether the robot ends up pointing toward the eventual goal. More...

#include <goal_align.h>

Inheritance diagram for dwb_critics::GoalAlignCritic:

Public Member Functions
	GoalAlignCritic ()

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

double	scorePose (const geometry_msgs::Pose2D &pose) override
	Retrieve the score for a single pose. More...

Public Member Functions inherited from dwb_critics::GoalDistCritic
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)
	Retrieve the score for a particular cell of the costmap. More...

	MapGridCritic ()

void	onInit () override

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

void	setAsObstacle (unsigned int x, unsigned int y)
	Sets the score of a particular cell to the obstacle cost. More...

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 Attributes
double	forward_point_distance_

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_
	Special cell_values. More...

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 }
	Separate modes for aggregating scores across the multiple poses in a trajectory. More...

Protected Member Functions inherited from dwb_critics::GoalDistCritic
bool	getLastPoseOnCostmap (const nav_2d_msgs::Path2D &global_plan, unsigned int &x, unsigned int &y)

Protected Member Functions inherited from dwb_critics::MapGridCritic
void	propogateManhattanDistances ()
	Go through the queue and set the cells to the Manhattan distance from their parents. More...

void	reset () override
	Clear the queue and set cell_values_ to the appropriate number of unreachableCellScore. More...

Detailed Description

Scores trajectories based on whether the robot ends up pointing toward the eventual goal.

Similar to GoalDistCritic, this critic finds the pose from the global path farthest from the robot that is still on the costmap and then evaluates how far the front of the robot is from that point. This works as a proxy to calculating which way the robot should be pointing.

Definition at line 52 of file goal_align.h.

Constructor & Destructor Documentation

dwb_critics::GoalAlignCritic::GoalAlignCritic ( )

inline

Definition at line 55 of file goal_align.h.

Member Function Documentation

void dwb_critics::GoalAlignCritic::onInit ( )

overridevirtual

Reimplemented from dwb_local_planner::TrajectoryCritic.

Definition at line 44 of file goal_align.cpp.

bool dwb_critics::GoalAlignCritic::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 51 of file goal_align.cpp.

double dwb_critics::GoalAlignCritic::scorePose ( const geometry_msgs::Pose2D & pose )

overridevirtual

Retrieve the score for a single pose.

Parameters

pose	The pose to score, assumed to be in the same frame as the costmap

Returns: The score associated with the cell of the costmap where the pose lies

Reimplemented from dwb_critics::MapGridCritic.

Definition at line 69 of file goal_align.cpp.

Member Data Documentation

double dwb_critics::GoalAlignCritic::forward_point_distance_

protected

Definition at line 61 of file goal_align.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation