.. _exhale_class_classmppi_1_1critics_1_1CriticFunction:

Class CriticFunction
====================

- Defined in :ref:`file_include_nav2_mppi_controller_critic_function.hpp`


Inheritance Relationships
-------------------------

Derived Types
*************

- ``public mppi::critics::ConstraintCritic`` (:ref:`exhale_class_classmppi_1_1critics_1_1ConstraintCritic`)
- ``public mppi::critics::CostCritic`` (:ref:`exhale_class_classmppi_1_1critics_1_1CostCritic`)
- ``public mppi::critics::GoalAngleCritic`` (:ref:`exhale_class_classmppi_1_1critics_1_1GoalAngleCritic`)
- ``public mppi::critics::GoalCritic`` (:ref:`exhale_class_classmppi_1_1critics_1_1GoalCritic`)
- ``public mppi::critics::ObstaclesCritic`` (:ref:`exhale_class_classmppi_1_1critics_1_1ObstaclesCritic`)
- ``public mppi::critics::PathAlignCritic`` (:ref:`exhale_class_classmppi_1_1critics_1_1PathAlignCritic`)
- ``public mppi::critics::PathAlignLegacyCritic`` (:ref:`exhale_class_classmppi_1_1critics_1_1PathAlignLegacyCritic`)
- ``public mppi::critics::PathAngleCritic`` (:ref:`exhale_class_classmppi_1_1critics_1_1PathAngleCritic`)
- ``public mppi::critics::PathFollowCritic`` (:ref:`exhale_class_classmppi_1_1critics_1_1PathFollowCritic`)
- ``public mppi::critics::PreferForwardCritic`` (:ref:`exhale_class_classmppi_1_1critics_1_1PreferForwardCritic`)
- ``public mppi::critics::TwirlingCritic`` (:ref:`exhale_class_classmppi_1_1critics_1_1TwirlingCritic`)
- ``public mppi::critics::VelocityDeadbandCritic`` (:ref:`exhale_class_classmppi_1_1critics_1_1VelocityDeadbandCritic`)


Class Documentation
-------------------


.. doxygenclass:: mppi::critics::CriticFunction
   :project: nav2_mppi_controller Doxygen Project
   :members:
   :protected-members:
   :undoc-members: