Function mppi::utils::getCriticGoal

• Defined in File utils.hpp

Function Documentation

inline geometry_msgs::msg::Pose mppi::utils::getCriticGoal(const CriticData &data, bool enforce_path_inversion)

Get the target pose to be evaluated by the critic.

Parameters:

• data – Data to use

• enforce_path_inversion – True to return the cusp point (last pose of the path) instead of the original goal

Returns:

geometry_msgs::msg::Pose Target pose for the critic