mppi::CriticManager Class Reference

Manager of objective function plugins for scoring trajectories. More...

#include <nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp>

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Public Types
typedef std::vector< std::unique_ptr< critics::CriticFunction > >	Critics

Public Member Functions
	CriticManager ()=default
	Constructor for mppi::CriticManager.
virtual	~CriticManager ()=default
	Virtual Destructor for mppi::CriticManager.
void	on_configure (nav2::LifecycleNode::WeakPtr parent, const std::string &name, std::shared_ptr< nav2_costmap_2d::Costmap2DROS >, ParametersHandler *)
	Configure critic manager on bringup and load plugins. More...
void	evalTrajectoriesScores (CriticData &data)
	Score trajectories by the set of loaded critic functions. More...
const std::vector< std::pair< std::string, Eigen::ArrayXf > > &	getCriticCosts () const
	Get stored per-critic costs from last evaluation. More...

Protected Member Functions
void	getParams ()
	Get parameters (critics to load)
virtual void	loadCritics ()
	Load the critic plugins.
std::string	getFullName (const std::string &name)
	Get full-name namespaced critic IDs.

Protected Attributes
nav2::LifecycleNode::WeakPtr	parent_
std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_
std::string	name_
ParametersHandler *	parameters_handler_
std::vector< std::string >	critic_names_
std::unique_ptr< pluginlib::ClassLoader< critics::CriticFunction > >	loader_
Critics	critics_
nav2::Publisher< nav2_msgs::msg::CriticsStats >::SharedPtr	critics_effect_pub_
bool	visualize_
std::vector< std::pair< std::string, Eigen::ArrayXf > >	critic_costs_
rclcpp::Clock::SharedPtr	clock_
rclcpp::Logger	logger_ {rclcpp::get_logger("MPPIController")}

Detailed Description

Manager of objective function plugins for scoring trajectories.

Definition at line 43 of file critic_manager.hpp.

Member Function Documentation

evalTrajectoriesScores()

void mppi::CriticManager::evalTrajectoriesScores

(

CriticData &

data

)

Score trajectories by the set of loaded critic functions.

Parameters

CriticData

Struct of necessary information to pass to the critic functions

Definition at line 76 of file critic_manager.cpp.

Referenced by mppi::Optimizer::optimize().

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getCriticCosts()

const std::vector<std::pair<std::string, Eigen::ArrayXf> >& mppi::CriticManager::getCriticCosts ( ) const

inline

Get stored per-critic costs from last evaluation.

Returns

Vector of (critic_name, cost_array) pairs

Definition at line 79 of file critic_manager.hpp.

Referenced by mppi::Optimizer::getCriticCosts().

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on_configure()

void mppi::CriticManager::on_configure	(	nav2::LifecycleNode::WeakPtr	parent,
		const std::string &	name,
		std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros,
		ParametersHandler *	param_handler
	)

Configure critic manager on bringup and load plugins.

Parameters

parent	WeakPtr to node
name	Name of plugin
costmap_ros	Costmap2DROS object of environment
dynamic_parameter_handler	Parameter handler object

Definition at line 20 of file critic_manager.cpp.

References getParams(), and loadCritics().

Referenced by mppi::Optimizer::initialize().

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

• nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp
• nav2_mppi_controller/src/critic_manager.cpp