nav2_route::TimeScorer Class Reference

Scores edges by the time to traverse an edge. It uses previous times to navigate the edge primarily, then secondarily uses maximum speed and absolute speed limits to estimate with edge length. More...

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

Inheritance diagram for nav2_route::TimeScorer:

Collaboration diagram for nav2_route::TimeScorer:

Public Member Functions
	TimeScorer ()=default
	Constructor.
virtual	~TimeScorer ()=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
std::string	name_
std::string	speed_tag_
std::string	prev_time_tag_
float	weight_
float	max_vel_

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

Detailed Description

Scores edges by the time to traverse an edge. It uses previous times to navigate the edge primarily, then secondarily uses maximum speed and absolute speed limits to estimate with edge length.

Definition at line 35 of file time_scorer.hpp.

Member Function Documentation

getName()

std::string nav2_route::TimeScorer::getName ( )

overridevirtual

Get name of the plugin for parameter scope mapping.

Returns

Name

Implements nav2_route::EdgeCostFunction.

Definition at line 77 of file time_scorer.cpp.

Referenced by configure().

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score()

bool nav2_route::TimeScorer::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 51 of file time_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/time_scorer.hpp
• nav2_route/src/plugins/edge_cost_functions/time_scorer.cpp