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

Inheritance diagram for mppi::critics::VelocityDeadbandCritic:

Collaboration diagram for mppi::critics::VelocityDeadbandCritic:

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Public Member Functions
void	initialize () override
	Initialize critic.

void	score (CriticData &data) override
	Evaluate cost related to goal following. 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
unsigned int	power_ {0}

float	weight_ {0}

std::vector< float >	deadband_velocities_ {0.0f, 0.0f, 0.0f}

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.

Member Function Documentation

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

overridevirtual

Evaluate cost related to goal following.

Parameters

costs [out] add reference cost values to this tensor

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

nav2_mppi_controller/include/nav2_mppi_controller/critics/velocity_deadband_critic.hpp
nav2_mppi_controller/src/critics/velocity_deadband_critic.cpp