mppi::critics::PathAlignLegacyCritic Class Reference

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. This is the initial 'Legacy' implementation before replacement Oct 2023. More...

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

Inheritance diagram for mppi::critics::PathAlignLegacyCritic:

Collaboration diagram for mppi::critics::PathAlignLegacyCritic:

Public Member Functions
void	initialize () override
	Initialize critic.
void	score (CriticData &data) override
	Evaluate cost related to trajectories path alignment. 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 Attributes
size_t	offset_from_furthest_ {0}
int	trajectory_point_step_ {0}
float	threshold_to_consider_ {0}
float	max_path_occupancy_ratio_ {0}
bool	use_path_orientations_ {false}
unsigned int	power_ {0}
float	weight_ {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 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. This is the initial 'Legacy' implementation before replacement Oct 2023.

Definition at line 33 of file path_align_legacy_critic.hpp.

Member Function Documentation

score()

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

overridevirtual

Evaluate cost related to trajectories path alignment.

Parameters

costs

[out] add reference cost values to this tensor

Implements mppi::critics::CriticFunction.

Definition at line 46 of file path_align_legacy_critic.cpp.

---

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

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