Class PathAlignCritic

• Defined in File path_align_critic.hpp

Inheritance Relationships

Base Type

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

Class Documentation

class PathAlignCritic : public mppi::critics::CriticFunction

Public Functions

virtual void initialize() override

Initialize critic.

virtual void score(CriticData &data) override

Evaluate cost related to trajectories path alignment.

Parameters:

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

Protected Attributes

size_t offset_from_furthest_ = {0}

int trajectory_point_step_ = {0}

float threshold_to_consider_ = {0}

float max_path_occupancy_ratio_ = {0}

bool use_path_orientations_ = {false}

unsigned int power_ = {0}

float weight_ = {0}