nav2_route::SemanticScorer Class Reference

Scores an edge based on arbitrary graph semantic data such as set priority/danger levels or regional attributes (e.g. living room, bathroom, work cell 2) More...

#include <nav2_route/include/nav2_route/plugins/edge_cost_functions/semantic_scorer.hpp>

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Public Member Functions
	SemanticScorer ()=default
	Constructor.
virtual	~SemanticScorer ()=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...
void	metadataValueScorer (Metadata &mdata, float &score)
	Scores graph object based on metadata's semantic value at key. More...
void	metadataKeyScorer (Metadata &mdata, float &score)
	Scores graph object based on metadata's key values. More...
std::string	getName () override
	Get name of the plugin for parameter scope mapping. More...
Public Member Functions inherited from nav2_route::EdgeCostFunction
	EdgeCostFunction ()=default
	Constructor.
virtual	~EdgeCostFunction ()=default
	Virtual destructor.
virtual void	prepare ()
	Prepare for a new cycle, by resetting state, grabbing data to use for all immediate requests, or otherwise prepare for scoring.

Protected Attributes
std::string	name_
std::string	key_
std::unordered_map< std::string, float >	semantic_info_
float	weight_

Additional Inherited Members
Public Types inherited from nav2_route::EdgeCostFunction
using	Ptr = std::shared_ptr< nav2_route::EdgeCostFunction >

Detailed Description

Scores an edge based on arbitrary graph semantic data such as set priority/danger levels or regional attributes (e.g. living room, bathroom, work cell 2)

Definition at line 35 of file semantic_scorer.hpp.

Member Function Documentation

getName()

std::string nav2_route::SemanticScorer::getName ( )

overridevirtual

Get name of the plugin for parameter scope mapping.

Returns

Name

Implements nav2_route::EdgeCostFunction.

Definition at line 97 of file semantic_scorer.cpp.

Referenced by configure().

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metadataKeyScorer()

void nav2_route::SemanticScorer::metadataKeyScorer	(	Metadata &	mdata,
		float &	score
	)

Scores graph object based on metadata's key values.

Parameters

mdata	Metadata
score	to add to

Definition at line 56 of file semantic_scorer.cpp.

References score().

Referenced by score().

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metadataValueScorer()

void nav2_route::SemanticScorer::metadataValueScorer	(	Metadata &	mdata,
		float &	score
	)

Scores graph object based on metadata's semantic value at key.

Parameters

mdata	Metadata
score	to add to

Definition at line 65 of file semantic_scorer.cpp.

References score().

Referenced by score().

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score()

bool nav2_route::SemanticScorer::score ( const EdgePtr  edge, const RouteRequest &  route_request, const EdgeType &  edge_type, float &  cost  )

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 74 of file semantic_scorer.cpp.

References metadataKeyScorer(), and metadataValueScorer().

Referenced by metadataKeyScorer(), and metadataValueScorer().

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

• nav2_route/include/nav2_route/plugins/edge_cost_functions/semantic_scorer.hpp
• nav2_route/src/plugins/edge_cost_functions/semantic_scorer.cpp