Class CostCritic

• Defined in File cost_critic.hpp

Inheritance Relationships

Base Type

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

Class Documentation

class CostCritic : public mppi::critics::CriticFunction

Critic objective function for avoiding obstacles using costmap’s inflated cost.

Public Functions

virtual void initialize() override

Initialize critic.

virtual void score(CriticData &data) override

Evaluate cost related to obstacle avoidance.

Parameters:

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

Protected Functions

bool inCollision(float cost, float x, float y, float theta)

Checks if cost represents a collision.

Parameters:

• cost – Point cost at pose center

• x – X of pose

• y – Y of pose

• theta – theta of pose

Returns:

bool if in collision

float costAtPose(float x, float y)

cost at a robot pose

Parameters:

• x – X of pose

• y – Y of pose

Returns:

Collision information at pose

float findCircumscribedCost(std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap)

Find the min cost of the inflation decay function for which the robot MAY be in collision in any orientation.

Parameters:

costmap – Costmap2DROS to get minimum inscribed cost (e.g. 128 in inflation layer documentation)

Returns:

double circumscribed cost, any higher than this and need to do full footprint collision checking since some element of the robot could be in collision

Protected Attributes

nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D*> collision_checker_ = {nullptr}

float possibly_inscribed_cost_

bool consider_footprint_ = {true}

float circumscribed_radius_ = {0}

float circumscribed_cost_ = {0}

float collision_cost_ = {0}

float critical_cost_ = {0}

float weight_ = {0}

float near_goal_distance_

std::string inflation_layer_name_

unsigned int power_ = {0}