Classes | |
| class | BaseObstacleCritic |
| Uses costmap to assign negative costs if a circular robot would collide at any point of the trajectory. More... | |
| class | GoalAlignCritic |
| Scores trajectories based on whether the robot ends up pointing toward the eventual goal. More... | |
| class | GoalDistCritic |
| Scores trajectories based on how far along the global path they end up. More... | |
| class | MapGridCritic |
| breadth-first scoring of all the cells in the costmap More... | |
| class | ObstacleFootprintCritic |
| Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory. More... | |
| class | OscillationCritic |
| Checks to see whether the sign of the commanded velocity flips frequently. More... | |
| class | PathAlignCritic |
| Scores trajectories based on how far from the global path the front of the robot ends up. More... | |
| class | PathDistCritic |
| Scores trajectories based on how far from the global path they end up. More... | |
| class | PreferForwardCritic |
| Penalize trajectories with move backwards and/or turn too much. More... | |
| class | RotateToGoalCritic |
| Forces the commanded trajectories to only be rotations if within a certain distance window. More... | |
| class | TwirlingCritic |
| Penalize trajectories with rotational velocities. More... | |
Functions | |
| geometry_msgs::Pose2D | getForwardPose (const geometry_msgs::Pose2D &pose, double distance) |
| Projects the given pose forward the specified distance in the x direction. More... | |
| double | hypot_sq (double dx, double dy) |
| geometry_msgs::Pose2D dwb_critics::getForwardPose | ( | const geometry_msgs::Pose2D & | pose, |
| double | distance | ||
| ) |
Projects the given pose forward the specified distance in the x direction.
| pose | Input pose |
| distance | distance to move (in meters) |
(used in both path_align and dist_align)
Definition at line 39 of file alignment_util.cpp.
|
inline |
Definition at line 50 of file rotate_to_goal.cpp.