mppi::critics::ObstaclesCritic Class Reference

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Public Member Functions
void	initialize () override
	Initialize critic.
void	score (CriticData &data) override
	Evaluate cost related to obstacle avoidance. 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 Member Functions
bool	inCollision (float cost) const
	Checks if cost represents a collision. More...
CollisionCost	costAtPose (float x, float y, float theta)
	cost at a robot pose More...
float	distanceToObstacle (const CollisionCost &cost)
	Distance to obstacle from cost. More...
float	findCircumscribedCost (std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap)
	Find the min cost of the inflation decay function for which the robot MAY be in collision in any orientation. More...

Protected Attributes
nav2_costmap_2d::FootprintCollisionChecker< nav2_costmap_2d::Costmap2D * >	collision_checker_ {nullptr}
bool	consider_footprint_ {true}
float	collision_cost_ {0}
float	inflation_scale_factor_ {0}
float	inflation_radius_ {0}
float	possible_collision_cost_
float	collision_margin_distance_
float	near_goal_distance_
float	circumscribed_cost_ {0}
float	circumscribed_radius_ {0}
unsigned int	power_ {0}
float	repulsion_weight_
float	critical_weight_ {0}
bool	enforce_path_inversion_ {false}
std::string	inflation_layer_name_
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

Definition at line 37 of file obstacles_critic.hpp.

Member Function Documentation

costAtPose()

CollisionCost mppi::critics::ObstaclesCritic::costAtPose ( float  x, float  y, float  theta  )

inlineprotected

cost at a robot pose

Parameters

x	X of pose
y	Y of pose
theta	theta of pose

Returns

Collision information at pose

Definition at line 224 of file obstacles_critic.cpp.

References nav2_costmap_2d::FootprintCollisionChecker< CostmapT >::footprintCostAtPose(), nav2_costmap_2d::FootprintCollisionChecker< CostmapT >::pointCost(), and nav2_costmap_2d::FootprintCollisionChecker< CostmapT >::worldToMap().

Referenced by score().

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distanceToObstacle()

float mppi::critics::ObstaclesCritic::distanceToObstacle ( const CollisionCost &  cost )

inlineprotected

Distance to obstacle from cost.

Parameters

cost	Costmap cost

Returns

float Distance to the obstacle represented by cost

Definition at line 107 of file obstacles_critic.cpp.

Referenced by score().

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findCircumscribedCost()

float mppi::critics::ObstaclesCritic::findCircumscribedCost ( std::shared_ptr< nav2_costmap_2d::Costmap2DROS >  costmap )

protected

Find the min cost of the inflation decay function for which the robot MAY be in collision in any orientation.

Parameters

costmap

Costmap2DROS to get minimum inscribed cost (e.g. 128 in inflation layer documentation)

Returns

double circumscribed cost, any higher than this and need to do full footprint collision checking since some element of the robot could be in collision

Definition at line 72 of file obstacles_critic.cpp.

Referenced by initialize(), and score().

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inCollision()

bool mppi::critics::ObstaclesCritic::inCollision ( float  cost ) const

inlineprotected

Checks if cost represents a collision.

Parameters

cost	Costmap cost

Returns

bool if in collision

Definition at line 206 of file obstacles_critic.cpp.

Referenced by score().

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score()

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

overridevirtual

Evaluate cost related to obstacle avoidance.

Parameters

costs

[out] add obstacle cost values to this tensor

Implements mppi::critics::CriticFunction.

Definition at line 122 of file obstacles_critic.cpp.

References costAtPose(), distanceToObstacle(), findCircumscribedCost(), and inCollision().

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

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