Struct CriticData

• Defined in File critic_data.hpp

Struct Documentation

struct CriticData

Data to pass to critics for scoring, including state, trajectories, path, costs, and important parameters to share.

Public Members

const models::State &state

const models::Trajectories &trajectories

const models::Path &path

xt::xtensor<float, 1> &costs

float &model_dt

bool fail_flag

nav2_core::GoalChecker *goal_checker

std::shared_ptr<MotionModel> motion_model

std::optional<std::vector<bool>> path_pts_valid

std::optional<size_t> furthest_reached_path_point