mppi::critics::CriticFunction Class Reference

Abstract critic objective function to score trajectories. More...

#include <nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp>

Inheritance diagram for mppi::critics::CriticFunction:

Collaboration diagram for mppi::critics::CriticFunction:

Public Member Functions
	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...
virtual void	score (CriticData &data)=0
	Main function to score trajectory. More...
virtual void	initialize ()=0
	Initialize critic.
std::string	getName ()
	Get name of critic.

Protected Attributes
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

Abstract critic objective function to score trajectories.

Definition at line 44 of file critic_function.hpp.

Member Function Documentation

on_configure()

void mppi::critics::CriticFunction::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  )

inline

Configure critic on bringup.

Parameters

parent	WeakPtr to node
parent_name	name of the controller
name	Name of plugin
costmap_ros	Costmap2DROS object of environment
dynamic_parameter_handler	Parameter handler object

Definition at line 65 of file critic_function.hpp.

References mppi::ParametersHandler::getParamGetter(), and initialize().

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score()

virtual void mppi::critics::CriticFunction::score ( CriticData &  data )

pure virtual

Main function to score trajectory.

Parameters

data	Critic data to use in scoring

Implemented in mppi::critics::VelocityDeadbandCritic, mppi::critics::TwirlingCritic, mppi::critics::PreferForwardCritic, mppi::critics::PathFollowCritic, mppi::critics::PathAngleCritic, mppi::critics::PathAlignLegacyCritic, mppi::critics::PathAlignCritic, mppi::critics::ObstaclesCritic, mppi::critics::GoalCritic, mppi::critics::GoalAngleCritic, mppi::critics::CostCritic, and mppi::critics::ConstraintCritic.

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

• nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp