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| virtual void | addCriticVisualization (sensor_msgs::PointCloud &pc) |
| | Add information to the given pointcloud for debugging costmap-grid based scores. More...
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| virtual void | debrief (const nav_2d_msgs::Twist2D &cmd_vel) |
| | debrief informs the critic what the chosen cmd_vel was (if it cares) More...
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| std::string | getName () |
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| virtual double | getScale () const |
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| void | initialize (const ros::NodeHandle &planner_nh, std::string name, nav_core2::Costmap::Ptr costmap) |
| | Initialize the critic with appropriate pointers and parameters. More...
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| virtual void | onInit () |
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| 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) |
| | Prior to evaluating any trajectories, look at contextual information constant across all trajectories. More...
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| virtual void | reset () |
| | Reset the state of the critic. More...
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| virtual double | scoreTrajectory (const dwb_msgs::Trajectory2D &traj)=0 |
| | Return a raw score for the given trajectory. More...
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| void | setScale (const double scale) |
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| virtual | ~TrajectoryCritic () |
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Evaluates a Trajectory2D to produce a score.
This class defines the plugin interface for the TrajectoryCritic which gives scores to trajectories, where lower numbers are better, but negative scores are considered invalid.
The general lifecycle is 1) initialize is called once at the beginning which in turn calls onInit. Derived classes may override onInit to load parameters as needed. 2) prepare is called once before each set of trajectories. It is presumed that there are multiple trajectories that we want to evaluate, and there may be some shared work that can be done beforehand to optimize the scoring of each individual trajectory. 3) scoreTrajectory is called once per trajectory and returns the score. 4) debrief is called after each set of trajectories with the chosen trajectory. This can be used for stateful critics that monitor the trajectory through time.
Optionally, there is also a debugging mechanism for certain types of critics in the addCriticVisualization method. If the score for a trajectory depends on its relationship to the costmap, addCriticVisualization can provide that information to the dwb_local_planner which will publish the grid scores as a PointCloud2.
Definition at line 76 of file trajectory_critic.h.
| virtual void dwb_local_planner::TrajectoryCritic::addCriticVisualization |
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sensor_msgs::PointCloud & |
pc | ) |
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inlinevirtual |
Add information to the given pointcloud for debugging costmap-grid based scores.
addCriticVisualization is an optional debugging mechanism for providing rich information about the cost for certain trajectories. Some critics will have scoring mechanisms wherein there will be some score for each cell in the costmap. This could be as straightforward as the cost in the costmap, or it could be the number of cells away from the goal pose.
Prior to calling this, dwb_local_planner will load the PointCloud's header and the points in row-major order. The critic may then add a ChannelFloat to the channels member of the PC with the same number of values as the points array. This information may then be converted and published as a PointCloud2.
- Parameters
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| pc | PointCloud to add channels to |
Definition at line 159 of file trajectory_critic.h.