Scores an edge leading to the goal node by comparing the orientation of the route pose and the orientation of the edge by multiplying the deviation from the desired orientation with a user defined weight. An alternative method can be selected, with the use_orientation_threshold flag, which rejects the edge it is greater than some tolerance. More...

#include <nav2_route/include/nav2_route/plugins/edge_cost_functions/goal_orientation_scorer.hpp>

Inheritance diagram for nav2_route::GoalOrientationScorer:

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Collaboration diagram for nav2_route::GoalOrientationScorer:

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Public Member Functions
	GoalOrientationScorer ()=default
	Constructor.

virtual	~GoalOrientationScorer ()=default
	destructor

void	configure (const rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, std::shared_ptr< nav2_costmap_2d::CostmapSubscriber > costmap_subscriber, const std::string &name) override
	Configure.

bool	score (const EdgePtr edge, const RouteRequest &route_request, const EdgeType &edge_type, float &cost) override
	Main scoring plugin API. More...

std::string	getName () override
	Get name of the plugin for parameter scope mapping. More...

Public Member Functions inherited from nav2_route::EdgeCostFunction
	EdgeCostFunction ()=default
	Constructor.

virtual	~EdgeCostFunction ()=default
	Virtual destructor.

virtual void	prepare ()
	Prepare for a new cycle, by resetting state, grabbing data to use for all immediate requests, or otherwise prepare for scoring.

Protected Attributes
rclcpp::Logger	logger_ {rclcpp::get_logger("GoalOrientationScorer")}

std::string	name_

double	orientation_tolerance_

float	orientation_weight_

bool	use_orientation_threshold_

Additional Inherited Members
Public Types inherited from nav2_route::EdgeCostFunction
using	Ptr = std::shared_ptr< nav2_route::EdgeCostFunction >

Detailed Description

Scores an edge leading to the goal node by comparing the orientation of the route pose and the orientation of the edge by multiplying the deviation from the desired orientation with a user defined weight. An alternative method can be selected, with the use_orientation_threshold flag, which rejects the edge it is greater than some tolerance.

Definition at line 42 of file goal_orientation_scorer.hpp.

Member Function Documentation

◆ getName()

std::string nav2_route::GoalOrientationScorer::getName ( )

overridevirtual

Get name of the plugin for parameter scope mapping.

Returns: Name

Implements nav2_route::EdgeCostFunction.

Definition at line 77 of file goal_orientation_scorer.cpp.

Referenced by configure().

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◆ score()

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

overridevirtual

Main scoring plugin API.

Parameters

edge	The edge pointer to score, which has access to the start/end nodes and their associated metadata and actions
cost	of the edge scored

Returns: bool if this edge is open valid to traverse

Implements nav2_route::EdgeCostFunction.

Definition at line 49 of file goal_orientation_scorer.cpp.

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

nav2_route/include/nav2_route/plugins/edge_cost_functions/goal_orientation_scorer.hpp
nav2_route/src/plugins/edge_cost_functions/goal_orientation_scorer.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getName()

◆ score()