nav2_route::EdgeScorer Class Reference

An class to encapsulate edge scoring logic for plugins and different user specified algorithms to influence graph search. It has access to the edge, which in turn has access to the parent and child node of the connection. It also contains action and arbitrary user-defined metadata to enable edge scoring logic based on arbitrary properties of the graph you select (e.g. some regions have a multiplier, some actions are discouraged with higher costs like having to go through a door, edges with reduced speed limits are proportionally less preferred for optimality relative to the distance the edge represents to optimize time to goal) More...

#include <nav2_route/include/nav2_route/edge_scorer.hpp>

Public Member Functions
	EdgeScorer (rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, const std::shared_ptr< nav2_costmap_2d::CostmapSubscriber > costmap_subscriber)
	Constructor.
	~EdgeScorer ()=default
	Destructor.
bool	score (const EdgePtr edge, const RouteRequest &route_request, const EdgeType &edge_type, float &score)
	Score the edge with the set of plugins. More...
int	numPlugins () const
	Provide the number of plugisn in the scorer loaded. More...

Protected Attributes
pluginlib::ClassLoader< EdgeCostFunction >	plugin_loader_
std::vector< EdgeCostFunction::Ptr >	plugins_

Detailed Description

An class to encapsulate edge scoring logic for plugins and different user specified algorithms to influence graph search. It has access to the edge, which in turn has access to the parent and child node of the connection. It also contains action and arbitrary user-defined metadata to enable edge scoring logic based on arbitrary properties of the graph you select (e.g. some regions have a multiplier, some actions are discouraged with higher costs like having to go through a door, edges with reduced speed limits are proportionally less preferred for optimality relative to the distance the edge represents to optimize time to goal)

Definition at line 45 of file edge_scorer.hpp.

Member Function Documentation

numPlugins()

int nav2_route::EdgeScorer::numPlugins

(

)

const

Provide the number of plugisn in the scorer loaded.

Returns

Number of scoring plugins

Definition at line 89 of file edge_scorer.cpp.

score()

bool nav2_route::EdgeScorer::score	(	const EdgePtr	edge,
		const RouteRequest &	route_request,
		const EdgeType &	edge_type,
		float &	score
	)

Score the edge with the set of plugins.

Parameters

edge	Ptr to edge for scoring
goal_pose	Pose Stamped of desired goal
score	of edge
final_edge	whether this edge brings us to the goal or not

Returns

If edge is valid

Definition at line 66 of file edge_scorer.cpp.

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

• nav2_route/include/nav2_route/edge_scorer.hpp
• nav2_route/src/edge_scorer.cpp