Inheritance diagram for mppi::critics::PathAngleCritic:

Collaboration diagram for mppi::critics::PathAngleCritic:

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Public Member Functions
void	initialize () override
	Initialize critic.

void	score (CriticData &data) override
	Evaluate cost related to robot orientation at goal pose (considered only if robot near last goal in current plan) 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
float	max_angle_to_furthest_ {0}

float	threshold_to_consider_ {0}

size_t	offset_from_furthest_ {0}

bool	reversing_allowed_ {true}

PathAngleMode	mode_ {0}

unsigned int	power_ {0}

float	weight_ {0}

bool	enforce_path_inversion_ {false}

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 58 of file path_angle_critic.hpp.

Member Function Documentation

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

overridevirtual

Evaluate cost related to robot orientation at goal pose (considered only if robot near last goal in current plan)

Parameters

costs [out] add goal angle cost values to this tensor

Definition at line 63 of file path_angle_critic.cpp.

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