Penalize trajectories with rotational velocities. More...
#include <twirling.h>
Inheritance diagram for dwb_critics::TwirlingCritic:
Public Member Functions | |
| void | onInit () override |
| double | scoreTrajectory (const dwb_msgs::Trajectory2D &traj) override |
 Public Member Functions inherited from dwb_local_planner::TrajectoryCritic | |
| virtual void | addCriticVisualization (sensor_msgs::PointCloud &pc) |
| 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 () |
Additional Inherited Members | |
| Public Types inherited from dwb_local_planner::TrajectoryCritic | |
| typedef std::shared_ptr< dwb_local_planner::TrajectoryCritic > | Ptr |
| 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
Penalize trajectories with rotational velocities.
This class provides a cost based on how much a robot "twirls" on its way to the goal. With differential-drive robots, there isn't a choice, but with holonomic or near-holonomic robots, sometimes a robot spins more than you'd like on its way to a goal. This class provides a way to assign a penalty purely to rotational velocities.
Definition at line 51 of file twirling.h.
Member Function Documentation
◆ onInit()
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overridevirtual |
Reimplemented from dwb_local_planner::TrajectoryCritic.
Definition at line 40 of file twirling.cpp.
◆ scoreTrajectory()
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overridevirtual |
Implements dwb_local_planner::TrajectoryCritic.
Definition at line 49 of file twirling.cpp.
The documentation for this class was generated from the following files: