Class PathAngleCritic

Inheritance Relationships

Base Type

Class Documentation

class PathAngleCritic : public mppi::critics::CriticFunction

Public Functions

virtual void initialize() override

Initialize critic.

virtual void score(CriticData &data) override

Evaluate cost related to robot orientation at goal pose (considered only if robot near last goal in current plan)

Parameters:

costs – [out] add goal angle cost values to this tensor

Protected Attributes

float max_angle_to_furthest_ = {0}
float threshold_to_consider_ = {0}
size_t offset_from_furthest_ = {0}
bool reversing_allowed_ = {true}
PathAngleMode mode_ = {0}
unsigned int power_ = {0}
float weight_ = {0}