Scores edges by the average or maximum cost found while iterating over the edge's line segment in the global costmap. More...
#include <nav2_route/include/nav2_route/plugins/edge_cost_functions/costmap_scorer.hpp>
Inheritance diagram for nav2_route::CostmapScorer:
Collaboration diagram for nav2_route::CostmapScorer:
Public Member Functions | |
| CostmapScorer ()=default | |
| Constructor. | |
| virtual | ~CostmapScorer ()=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... | |
| void | prepare () override |
| Prepare for a new cycle, by resetting state, grabbing data to use for all immediate requests, or otherwise prepare for scoring. | |
 Public Member Functions inherited from nav2_route::EdgeCostFunction | |
| EdgeCostFunction ()=default | |
| Constructor. | |
| virtual | ~EdgeCostFunction ()=default |
| Virtual destructor. | |
Protected Attributes | |
| rclcpp::Logger | logger_ {rclcpp::get_logger("CostmapScorer")} |
| rclcpp::Clock::SharedPtr | clock_ |
| std::string | name_ |
| bool | use_max_ |
| bool | invalid_on_collision_ |
| bool | invalid_off_map_ |
| float | weight_ |
| float | max_cost_ |
| std::shared_ptr< nav2_costmap_2d::CostmapSubscriber > | costmap_subscriber_ |
| std::shared_ptr< nav2_costmap_2d::Costmap2D > | costmap_ {nullptr} |
| unsigned int | check_resolution_ {1u} |
Additional Inherited Members | |
| Public Types inherited from nav2_route::EdgeCostFunction | |
| using | Ptr = std::shared_ptr< nav2_route::EdgeCostFunction > |
Detailed Description
Scores edges by the average or maximum cost found while iterating over the edge's line segment in the global costmap.
Definition at line 36 of file costmap_scorer.hpp.
Member Function Documentation
◆ getName()
|
overridevirtual |
Get name of the plugin for parameter scope mapping.
- Returns
- Name
Implements nav2_route::EdgeCostFunction.
Definition at line 144 of file costmap_scorer.cpp.
Referenced by configure().
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◆ score()
|
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 94 of file costmap_scorer.cpp.
References nav2_util::LineIterator::isValid().
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The documentation for this class was generated from the following files:
- nav2_route/include/nav2_route/plugins/edge_cost_functions/costmap_scorer.hpp
- nav2_route/src/plugins/edge_cost_functions/costmap_scorer.cpp
