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

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Public Member Functions
void	initialize () override
	Initialize critic.

void	score (CriticData &data) override
	Evaluate cost related to obstacle avoidance. More...

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 Member Functions
bool	inCollision (float cost, float x, float y, float theta)
	Checks if cost represents a collision. More...

float	costAtPose (float x, float y)
	cost at a robot pose More...

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. More...

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}

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 avoiding obstacles using costmap's inflated cost.

Definition at line 35 of file cost_critic.hpp.

Member Function Documentation

float mppi::critics::CostCritic::costAtPose	(	float	x,
		float	y
	)

protected

cost at a robot pose

Parameters

x	X of pose
y	Y of pose

Definition at line 214 of file cost_critic.cpp.

Referenced by score().

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

protected

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

Definition at line 76 of file cost_critic.cpp.

Referenced by initialize(), and score().

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