twirling_critic.cpp

// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#include "nav2_mppi_controller/critics/twirling_critic.hpp"
 
#include <Eigen/Dense>
 
namespace mppi::critics
{
 
void TwirlingCritic::initialize()
{
  auto getParentParam = parameters_handler_->getParamGetter(parent_name_);
  auto getParam = parameters_handler_->getParamGetter(name_);
  getParam(power_, "cost_power", 1);
  getParam(weight_, "cost_weight", 10.0f);
 
  RCLCPP_INFO(
    logger_, "TwirlingCritic instantiated with %d power and %f weight.", power_, weight_);
}
 
void TwirlingCritic::score(CriticData & data)
{
  if (!enabled_) {
    return;
  }
 
  if (data.goal_checker != nullptr) {
    geometry_msgs::msg::Pose pose_tolerance;
    geometry_msgs::msg::Twist velocity_tolerance;
    double path_length_tolerance;
    data.goal_checker->getTolerances(pose_tolerance, velocity_tolerance, path_length_tolerance);
 
    if (data.state.local_path_length < pose_tolerance.position.x) {
      return;
    }
  }
 
  if (power_ > 1u) {
    data.costs += ((data.state.wz.abs().rowwise().mean()) * weight_).pow(power_).eval();
  } else {
    data.costs += ((data.state.wz.abs().rowwise().mean()) * weight_).eval();
  }
}
 
}  // namespace mppi::critics
 
#include <pluginlib/class_list_macros.hpp>
 
PLUGINLIB_EXPORT_CLASS(
  mppi::critics::TwirlingCritic,
  mppi::critics::CriticFunction)