Scores trajectories based on how far along the global path they end up. More...
#include <goal_dist.h>
Inheritance diagram for dwb_critics::GoalDistCritic:
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 |
Protected Member Functions | |
| bool | getLastPoseOnCostmap (const nav_2d_msgs::Path2D &global_plan, unsigned int &x, unsigned int &y) |
Detailed Description
Scores trajectories based on how far along the global path they end up.
This trajectory critic helps ensure progress along the global path. It finds the pose from the global path farthest from the robot that is still on the costmap, and aims for that point by assigning the lowest cost to the cell corresponding with that farthest pose.
Definition at line 50 of file goal_dist.h.
Member Function Documentation
| bool dwb_critics::GoalDistCritic::getLastPoseOnCostmap | ( | const nav_2d_msgs::Path2D & | global_plan, |
| unsigned int & | x, | ||
| unsigned int & | y | ||
| ) | [protected] |
Definition at line 63 of file goal_dist.cpp.
| bool dwb_critics::GoalDistCritic::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, virtual] |
Reimplemented from dwb_local_planner::TrajectoryCritic.
Reimplemented in dwb_critics::GoalAlignCritic.
Definition at line 42 of file goal_dist.cpp.
The documentation for this class was generated from the following files: