breadth-first scoring of all the cells in the costmap More...

#include <nav2_dwb_controller/dwb_critics/include/dwb_critics/map_grid.hpp>

Inheritance diagram for dwb_critics::MapGridCritic:

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Collaboration diagram for dwb_critics::MapGridCritic:

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Classes
class	MapGridQueue
	Subclass of CostmapQueue that avoids Obstacles and Unknown Values. More...

Public Member Functions
void	onInit () override

double	scoreTrajectory (const dwb_msgs::msg::Trajectory2D &traj) override
	Return a raw score for the given trajectory. More...

void	addCriticVisualization (std::vector< std::pair< std::string, std::vector< float >>> &cost_channels) override
	Add information to the given pointcloud for debugging costmap-grid based scores. More...

double	getScale () const override

virtual double	scorePose (const geometry_msgs::msg::Pose2D &pose)
	Retrieve the score for a single pose. More...

double	getScore (unsigned int x, unsigned int y)
	Retrieve the score for a particular cell of the costmap. More...

void	setAsObstacle (unsigned int index)
	Sets the score of a particular cell to the obstacle cost. More...

Public Member Functions inherited from dwb_core::TrajectoryCritic
void	initialize (const nav2_util::LifecycleNode::SharedPtr &nh, const std::string &name, const std::string &ns, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros)
	Initialize the critic with appropriate pointers and parameters. More...

virtual bool	prepare (const geometry_msgs::msg::Pose2D &, const nav_2d_msgs::msg::Twist2D &, const geometry_msgs::msg::Pose2D &, const nav_2d_msgs::msg::Path2D &)
	Prior to evaluating any trajectories, look at contextual information constant across all trajectories. More...

virtual void	debrief (const nav_2d_msgs::msg::Twist2D &)
	debrief informs the critic what the chosen cmd_vel was (if it cares)

std::string	getName ()

void	setScale (const double scale)

Protected Types
enum class	ScoreAggregationType { Last , Sum , Product }
	Separate modes for aggregating scores across the multiple poses in a trajectory. More...

Protected Member Functions
void	reset () override
	Clear the queuDWB_CRITICS_MAP_GRID_He and set cell_values_ to the appropriate number of unreachableCellScore.

void	propogateManhattanDistances ()
	Go through the queue and set the cells to the Manhattan distance from their parents.

Protected Attributes
std::shared_ptr< MapGridQueue >	queue_

nav2_costmap_2d::Costmap2D *	costmap_

std::vector< double >	cell_values_

double	obstacle_score_

double	unreachable_score_
	Special cell_values.

bool	stop_on_failure_

ScoreAggregationType	aggregationType_

Protected Attributes inherited from dwb_core::TrajectoryCritic
std::string	name_

std::string	dwb_plugin_name_

std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_

double	scale_

rclcpp_lifecycle::LifecycleNode::WeakPtr	node_

Additional Inherited Members
Public Types inherited from dwb_core::TrajectoryCritic
using	Ptr = std::shared_ptr< dwb_core::TrajectoryCritic >

Detailed Description

breadth-first scoring of all the cells in the costmap

This TrajectoryCritic assigns a score to every cell in the costmap based on the distance to the cell from some set of source points. The cells corresponding with the source points are marked with some initial score, and then every other cell is updated with a score based on its relation to the closest source cell, based on a breadth-first exploration of the cells of the costmap.

This approach was chosen for computational efficiency, such that each trajectory need not be compared to the list of source points.

Definition at line 61 of file map_grid.hpp.

Member Enumeration Documentation

◆ ScoreAggregationType

enum dwb_critics::MapGridCritic::ScoreAggregationType

strongprotected

Separate modes for aggregating scores across the multiple poses in a trajectory.

Last returns the score associated with the last pose in the trajectory Sum returns the sum of all the scores Product returns the product of all the (non-zero) scores

Definition at line 105 of file map_grid.hpp.

Member Function Documentation

◆ addCriticVisualization()

void dwb_critics::MapGridCritic::addCriticVisualization ( std::vector< std::pair< std::string, std::vector< float >>> & )

overridevirtual

Add information to the given pointcloud for debugging costmap-grid based scores.

addCriticVisualization is an optional debugging mechanism for providing rich information about the cost for certain trajectories. Some critics will have scoring mechanisms wherein there will be some score for each cell in the costmap. This could be as straightforward as the cost in the costmap, or it could be the number of cells away from the goal pose.

Prior to calling this, dwb_core will load the PointCloud's header and the points in row-major order. The critic may then add a ChannelFloat to the channels member of the PC with the same number of values as the points array. This information may then be converted and published as a PointCloud2.

Parameters