Class VelocityDeadbandCritic

• Defined in File velocity_deadband_critic.hpp

Inheritance Relationships

Base Type

• public mppi::critics::CriticFunction (Class CriticFunction)

Class Documentation

class VelocityDeadbandCritic : public mppi::critics::CriticFunction

Critic objective function for enforcing feasible constraints.

Public Functions

virtual void initialize() override

Initialize critic.

virtual void score(CriticData &data) override

Evaluate cost related to goal following.

Parameters:

costs – [out] add reference cost values to this tensor

Protected Attributes

unsigned int power_ = {0}

float weight_ = {0}

std::vector<float> deadband_velocities_ = {0.0f, 0.0f, 0.0f}