mppi::critics::ConstraintCritic Class Reference

Critic objective function for enforcing feasible constraints. More...

#include <nav2_mppi_controller/include/nav2_mppi_controller/critics/constraint_critic.hpp>

Inheritance diagram for mppi::critics::ConstraintCritic:

Collaboration diagram for mppi::critics::ConstraintCritic:

Public Member Functions
void	initialize () override
	Initialize critic.
void	score (CriticData &data) override
	Evaluate cost related to goal following. More...
float	getMaxVelConstraint ()
float	getMinVelConstraint ()
Public Member Functions inherited from mppi::critics::CriticFunction
	CriticFunction ()=default
	Constructor for mppi::critics::CriticFunction.
virtual	~CriticFunction ()=default
	Destructor for mppi::critics::CriticFunction.
void	on_configure (rclcpp_lifecycle::LifecycleNode::WeakPtr parent, const std::string &parent_name, const std::string &name, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros, ParametersHandler *param_handler)
	Configure critic on bringup. More...
std::string	getName ()
	Get name of critic.

Protected Attributes
unsigned int	power_ {0}
float	weight_ {0}
float	min_vel_
float	max_vel_
Protected Attributes inherited from mppi::critics::CriticFunction
bool	enabled_
std::string	name_
std::string	parent_name_
rclcpp_lifecycle::LifecycleNode::WeakPtr	parent_
std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_
nav2_costmap_2d::Costmap2D *	costmap_ {nullptr}
ParametersHandler *	parameters_handler_
rclcpp::Logger	logger_ {rclcpp::get_logger("MPPIController")}

Detailed Description

Critic objective function for enforcing feasible constraints.

Critic objective function for penalizing wiggling/twirling.

Critic objective function for preferring forward motion.

Critic objective function for following the path approximately To allow for deviation from path in case of dynamic obstacles. Path Align is what aligns the trajectories to the path more or less precisely, if desireable. A higher weight here with an offset > 1 will accelerate the samples to full speed faster and push the follow point further ahead, creating some shortcutting.

Critic objective function for aligning to path in cases of extreme misalignment or turning.

Critic objective function for aligning to the path. Note: High settings of this will follow the path more precisely, but also makes it difficult (or impossible) to deviate in the presence of dynamic obstacles. This is an important critic to tune and consider in tandem with Obstacle.

Critic objective function for avoiding obstacles, allowing it to deviate off the planned path. This is important to tune in tandem with PathAlign to make a balance between path-tracking and dynamic obstacle avoidance capabilities as desirable for a particular application.

Critic objective function for driving towards goal.

Critic objective function for driving towards goal orientation.

Definition at line 29 of file constraint_critic.hpp.

Member Function Documentation

score()

void mppi::critics::ConstraintCritic::score ( CriticData &  data )

overridevirtual

Evaluate cost related to goal following.

Parameters

costs

[out] add reference cost values to this tensor

Implements mppi::critics::CriticFunction.

Definition at line 41 of file constraint_critic.cpp.

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

• nav2_mppi_controller/include/nav2_mppi_controller/critics/constraint_critic.hpp
• nav2_mppi_controller/src/critics/constraint_critic.cpp