Scores trajectories based on how far from the global path they end up. More...
#include <nav2_dwb_controller/dwb_critics/include/dwb_critics/path_dist.hpp>
Inheritance diagram for dwb_critics::PathDistCritic:
Collaboration diagram for dwb_critics::PathDistCritic:
Public Member Functions | |
| bool | prepare (const geometry_msgs::msg::Pose2D &pose, const nav_2d_msgs::msg::Twist2D &vel, const geometry_msgs::msg::Pose2D &goal, const nav_2d_msgs::msg::Path2D &global_plan) override |
| Prior to evaluating any trajectories, look at contextual information constant across all trajectories. More... | |
 Public Member Functions inherited from dwb_critics::MapGridCritic | |
| void | onInit () override |
| double | scoreTrajectory (const dwb_msgs::msg::Trajectory2D &traj) override |
| Return a raw score for the given trajectory. More... | |
| void | addCriticVisualization (std::vector< std::pair< std::string, std::vector< float >>> &cost_channels) override |
| Add information to the given pointcloud for debugging costmap-grid based scores. More... | |
| double | getScale () const override |
| virtual double | scorePose (const geometry_msgs::msg::Pose2D &pose) |
| Retrieve the score for a single pose. More... | |
| double | getScore (unsigned int x, unsigned int y) |
| Retrieve the score for a particular cell of the costmap. More... | |
| void | setAsObstacle (unsigned int index) |
| Sets the score of a particular cell to the obstacle cost. More... | |
| Public Member Functions inherited from dwb_core::TrajectoryCritic | |
| void | initialize (const nav2_util::LifecycleNode::SharedPtr &nh, const std::string &name, const std::string &ns, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros) |
| Initialize the critic with appropriate pointers and parameters. More... | |
| virtual void | debrief (const nav_2d_msgs::msg::Twist2D &) |
| debrief informs the critic what the chosen cmd_vel was (if it cares) | |
| std::string | getName () |
| void | setScale (const double scale) |
Additional Inherited Members | |
| Public Types inherited from dwb_core::TrajectoryCritic | |
| using | Ptr = std::shared_ptr< dwb_core::TrajectoryCritic > |
| Protected Types inherited from dwb_critics::MapGridCritic | |
| enum class | ScoreAggregationType { Last , Sum , Product } |
| Separate modes for aggregating scores across the multiple poses in a trajectory. More... | |
| Protected Member Functions inherited from dwb_critics::MapGridCritic | |
| void | reset () override |
| Clear the queuDWB_CRITICS_MAP_GRID_He and set cell_values_ to the appropriate number of unreachableCellScore. | |
| void | propogateManhattanDistances () |
| Go through the queue and set the cells to the Manhattan distance from their parents. | |
| Protected Attributes inherited from dwb_critics::MapGridCritic | |
| std::shared_ptr< MapGridQueue > | queue_ |
| nav2_costmap_2d::Costmap2D * | costmap_ |
| std::vector< double > | cell_values_ |
| double | obstacle_score_ |
| double | unreachable_score_ |
| Special cell_values. | |
| bool | stop_on_failure_ |
| ScoreAggregationType | aggregationType_ |
| Protected Attributes inherited from dwb_core::TrajectoryCritic | |
| std::string | name_ |
| std::string | dwb_plugin_name_ |
| std::shared_ptr< nav2_costmap_2d::Costmap2DROS > | costmap_ros_ |
| double | scale_ |
| rclcpp_lifecycle::LifecycleNode::WeakPtr | node_ |
Detailed Description
Scores trajectories based on how far from the global path they end up.
Definition at line 45 of file path_dist.hpp.
Member Function Documentation
◆ prepare()
|
overridevirtual |
Prior to evaluating any trajectories, look at contextual information constant across all trajectories.
Subclasses may overwrite. Return false in case there is any error.
- Parameters
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pose Current pose (costmap frame) vel Current velocity goal The final goal (costmap frame) global_plan Transformed global plan in costmap frame, possibly cropped to nearby points
Reimplemented from dwb_core::TrajectoryCritic.
Definition at line 43 of file path_dist.cpp.
References nav2_costmap_2d::Costmap2D::getCost(), nav2_costmap_2d::Costmap2D::getIndex(), nav2_costmap_2d::Costmap2D::getResolution(), dwb_critics::MapGridCritic::propogateManhattanDistances(), dwb_critics::MapGridCritic::reset(), and nav2_costmap_2d::Costmap2D::worldToMap().
Referenced by dwb_critics::PathAlignCritic::prepare().
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The documentation for this class was generated from the following files:
- nav2_dwb_controller/dwb_critics/include/dwb_critics/path_dist.hpp
- nav2_dwb_controller/dwb_critics/src/path_dist.cpp
