Class GoalAngleCritic

• Defined in File goal_angle_critic.hpp

Inheritance Relationships

Base Type

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

Class Documentation

class GoalAngleCritic : public mppi::critics::CriticFunction

Public Functions

virtual void initialize() override

Initialize critic.

virtual void score(CriticData &data) override

Evaluate cost related to robot orientation at goal pose (considered only if robot near last goal in current plan)

Parameters:

costs – [out] add goal angle cost values to this tensor

Protected Attributes

float threshold_to_consider_ = {0}

unsigned int power_ = {0}

float weight_ = {0}