Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
mir_dwb_critics::PathProgressCritic Class Reference

Calculates an intermediate goal along the global path and scores trajectories on the distance to that goal. More...

#include <path_progress.h>

Inheritance diagram for mir_dwb_critics::PathProgressCritic:
Inheritance graph
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Public Member Functions

void onInit () override
 
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
 
void reset () override
 
double scoreTrajectory (const dwb_msgs::Trajectory2D &traj) override
 
- Public Member Functions inherited from dwb_critics::MapGridCritic
void addCriticVisualization (sensor_msgs::PointCloud &pc) override
 
double getScale () const override
 
double getScore (unsigned int x, unsigned int y)
 
 MapGridCritic ()
 
virtual double scorePose (const geometry_msgs::Pose2D &pose)
 
void setAsObstacle (unsigned int x, unsigned int y)
 
- Public Member Functions inherited from dwb_local_planner::TrajectoryCritic
virtual void debrief (const nav_2d_msgs::Twist2D &cmd_vel)
 
std::string getName ()
 
void initialize (const ros::NodeHandle &planner_nh, std::string name, nav_core2::Costmap::Ptr costmap)
 
void setScale (const double scale)
 
virtual ~TrajectoryCritic ()
 

Protected Member Functions

unsigned int getGoalIndex (const std::vector< geometry_msgs::Pose2D > &plan, unsigned int start_index, unsigned int last_valid_index) const
 
bool getGoalPose (const geometry_msgs::Pose2D &robot_pose, const nav_2d_msgs::Path2D &global_plan, unsigned int &x, unsigned int &y, double &desired_angle)
 
- Protected Member Functions inherited from dwb_critics::MapGridCritic
void propogateManhattanDistances ()
 

Protected Attributes

double angle_threshold_
 
double desired_angle_
 
double heading_scale_
 
std::vector< geometry_msgs::Pose2D > reached_intermediate_goals_
 
double xy_local_goal_tolerance_
 
- Protected Attributes inherited from dwb_critics::MapGridCritic
ScoreAggregationType aggregationType_
 
nav_grid::VectorNavGrid< double > cell_values_
 
double obstacle_score_
 
std::shared_ptr< MapGridQueuequeue_
 
bool stop_on_failure_
 
double unreachable_score_
 
- Protected Attributes inherited from dwb_local_planner::TrajectoryCritic
nav_core2::Costmap::Ptr costmap_
 
ros::NodeHandle critic_nh_
 
std::string name_
 
ros::NodeHandle planner_nh_
 
double scale_
 

Additional Inherited Members

- Public Types inherited from dwb_local_planner::TrajectoryCritic
typedef std::shared_ptr< dwb_local_planner::TrajectoryCriticPtr
 
- Protected Types inherited from dwb_critics::MapGridCritic
enum  ScoreAggregationType { ScoreAggregationType::Last, ScoreAggregationType::Sum, ScoreAggregationType::Product }
 

Detailed Description

Calculates an intermediate goal along the global path and scores trajectories on the distance to that goal.

This trajectory critic helps ensure progress along the global path. It calculates an intermediate goal that is as far as possible along the global path as long as the path continues to move in one direction (+/- angle_threshold).

Definition at line 50 of file path_progress.h.

Member Function Documentation

unsigned int mir_dwb_critics::PathProgressCritic::getGoalIndex ( const std::vector< geometry_msgs::Pose2D > &  plan,
unsigned int  start_index,
unsigned int  last_valid_index 
) const
protected

Definition at line 190 of file path_progress.cpp.

bool mir_dwb_critics::PathProgressCritic::getGoalPose ( const geometry_msgs::Pose2D &  robot_pose,
const nav_2d_msgs::Path2D &  global_plan,
unsigned int &  x,
unsigned int &  y,
double &  desired_angle 
)
protected

Definition at line 82 of file path_progress.cpp.

void mir_dwb_critics::PathProgressCritic::onInit ( )
overridevirtual

Reimplemented from dwb_critics::MapGridCritic.

Definition at line 60 of file path_progress.cpp.

bool mir_dwb_critics::PathProgressCritic::prepare ( const geometry_msgs::Pose2D &  pose,
const nav_2d_msgs::Twist2D &  vel,
const geometry_msgs::Pose2D &  goal,
const nav_2d_msgs::Path2D &  global_plan 
)
overridevirtual

Reimplemented from dwb_local_planner::TrajectoryCritic.

Definition at line 41 of file path_progress.cpp.

void mir_dwb_critics::PathProgressCritic::reset ( )
overridevirtual

Reimplemented from dwb_critics::MapGridCritic.

Definition at line 70 of file path_progress.cpp.

double mir_dwb_critics::PathProgressCritic::scoreTrajectory ( const dwb_msgs::Trajectory2D &  traj)
overridevirtual

Reimplemented from dwb_critics::MapGridCritic.

Definition at line 74 of file path_progress.cpp.

Member Data Documentation

double mir_dwb_critics::PathProgressCritic::angle_threshold_
protected

Definition at line 73 of file path_progress.h.

double mir_dwb_critics::PathProgressCritic::desired_angle_
protected

Definition at line 77 of file path_progress.h.

double mir_dwb_critics::PathProgressCritic::heading_scale_
protected

Definition at line 74 of file path_progress.h.

std::vector<geometry_msgs::Pose2D> mir_dwb_critics::PathProgressCritic::reached_intermediate_goals_
protected

Definition at line 76 of file path_progress.h.

double mir_dwb_critics::PathProgressCritic::xy_local_goal_tolerance_
protected

Definition at line 72 of file path_progress.h.


The documentation for this class was generated from the following files:


mir_dwb_critics
Author(s): Martin Günther
autogenerated on Wed May 8 2019 02:38:50