Scores trajectories based on how far from the global path they end up. More...
#include <path_dist.h>
Inheritance diagram for dwb_critics::PathDistCritic:
Public Member Functions | |
| 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 |
| virtual double | scorePose (const geometry_msgs::Pose2D &pose) |
| Retrieve the score for a single pose. More... | |
| 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 () |
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::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... | |
| 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_ |
Detailed Description
Scores trajectories based on how far from the global path they end up.
Definition at line 45 of file path_dist.h.
Member Function Documentation
◆ prepare()
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overridevirtual |
Reimplemented from dwb_local_planner::TrajectoryCritic.
Definition at line 42 of file path_dist.cpp.
The documentation for this class was generated from the following files: