nav2_route::StartPoseOrientationScorer Class Reference

Scores initial edge by comparing the orientation of the robot's current pose and the orientation of the edge by multiplying the deviation from the desired orientation with a user defined weight. An alternative method can be selected, with the use_orientation_threshold flag, which rejects the edge it is greater than some tolerance. More...

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

Inheritance diagram for nav2_route::StartPoseOrientationScorer:

Collaboration diagram for nav2_route::StartPoseOrientationScorer:

Public Member Functions
	StartPoseOrientationScorer ()=default
	Constructor.
virtual	~StartPoseOrientationScorer ()=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...
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
rclcpp::Logger	logger_ {rclcpp::get_logger("StartPoseOrientationScorer")}
std::string	name_
std::shared_ptr< tf2_ros::Buffer >	tf_buffer_
double	orientation_tolerance_
float	orientation_weight_
bool	use_orientation_threshold_

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

Detailed Description

Scores initial edge by comparing the orientation of the robot's current pose and the orientation of the edge by multiplying the deviation from the desired orientation with a user defined weight. An alternative method can be selected, with the use_orientation_threshold flag, which rejects the edge it is greater than some tolerance.

Definition at line 44 of file start_pose_orientation_scorer.hpp.

Member Function Documentation

getName()

std::string nav2_route::StartPoseOrientationScorer::getName ( )

overridevirtual

Get name of the plugin for parameter scope mapping.

Returns

Name

Implements nav2_route::EdgeCostFunction.

Definition at line 80 of file start_pose_orientation_scorer.cpp.

Referenced by configure().

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score()

bool nav2_route::StartPoseOrientationScorer::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 52 of file start_pose_orientation_scorer.cpp.

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

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