A plugin interface to score edges during graph search to modify the lowest cost path (e.g. by distance, maximum speed, regions prefer not to travel blocked by occupancy, or using arbitrarily defined user metadata stored in the edge and nodes of interest.) More...
#include <nav2_route/include/nav2_route/interfaces/edge_cost_function.hpp>
Public Types | |
| using | Ptr = std::shared_ptr< nav2_route::EdgeCostFunction > |
Public Member Functions | |
| EdgeCostFunction ()=default | |
| Constructor. | |
| virtual | ~EdgeCostFunction ()=default |
| Virtual destructor. | |
| virtual 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)=0 |
| Configure the scorer, but do not store the node. More... | |
| virtual bool | score (const EdgePtr edge, const RouteRequest &route_request, const EdgeType &edge_type, float &cost)=0 |
| Main scoring plugin API. More... | |
| virtual std::string | getName ()=0 |
| Get name of the plugin for parameter scope mapping. More... | |
| virtual void | prepare () |
| Prepare for a new cycle, by resetting state, grabbing data to use for all immediate requests, or otherwise prepare for scoring. | |
Detailed Description
A plugin interface to score edges during graph search to modify the lowest cost path (e.g. by distance, maximum speed, regions prefer not to travel blocked by occupancy, or using arbitrarily defined user metadata stored in the edge and nodes of interest.)
Definition at line 39 of file edge_cost_function.hpp.
Member Function Documentation
◆ configure()
|
pure virtual |
Configure the scorer, but do not store the node.
- Parameters
-
parent pointer to user's node
Implemented in nav2_route::TimeScorer, nav2_route::StartPoseOrientationScorer, nav2_route::SemanticScorer, nav2_route::PenaltyScorer, nav2_route::GoalOrientationScorer, nav2_route::DynamicEdgesScorer, nav2_route::DistanceScorer, and nav2_route::CostmapScorer.
◆ getName()
|
pure virtual |
Get name of the plugin for parameter scope mapping.
- Returns
- Name
Implemented in nav2_route::TimeScorer, nav2_route::StartPoseOrientationScorer, nav2_route::SemanticScorer, nav2_route::PenaltyScorer, nav2_route::GoalOrientationScorer, nav2_route::DynamicEdgesScorer, nav2_route::DistanceScorer, and nav2_route::CostmapScorer.
◆ score()
|
pure virtual |
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
Implemented in nav2_route::TimeScorer, nav2_route::StartPoseOrientationScorer, nav2_route::SemanticScorer, nav2_route::PenaltyScorer, nav2_route::GoalOrientationScorer, nav2_route::DynamicEdgesScorer, nav2_route::DistanceScorer, and nav2_route::CostmapScorer.
The documentation for this class was generated from the following file:
- nav2_route/include/nav2_route/interfaces/edge_cost_function.hpp
