dwb_critics::GoalDistCritic Class Reference

Scores trajectories based on how far along the global path they end up. More...

#include <nav2_dwb_controller/dwb_critics/include/dwb_critics/goal_dist.hpp>

Inheritance diagram for dwb_critics::GoalDistCritic:

Collaboration diagram for dwb_critics::GoalDistCritic:

Public Member Functions
bool	prepare (const geometry_msgs::msg::Pose &pose, const nav_2d_msgs::msg::Twist2D &vel, const geometry_msgs::msg::Pose &goal, const nav_msgs::msg::Path &global_plan) override
	Prior to evaluating any trajectories, look at contextual information constant across all trajectories. More...
Public Member Functions inherited from dwb_critics::MapGridCritic
void	onInit () override
double	scoreTrajectory (const dwb_msgs::msg::Trajectory2D &traj) override
	Return a raw score for the given trajectory. More...
void	addCriticVisualization (std::vector< std::pair< std::string, std::vector< float >>> &cost_channels) override
	Add information to the given pointcloud for debugging costmap-grid based scores. More...
double	getScale () const override
virtual double	scorePose (const geometry_msgs::msg::Pose &pose)
	Retrieve the score for a single pose. More...
double	getScore (unsigned int x, unsigned int y)
	Retrieve the score for a particular cell of the costmap. More...
void	setAsObstacle (unsigned int index)
	Sets the score of a particular cell to the obstacle cost. More...
Public Member Functions inherited from dwb_core::TrajectoryCritic
void	initialize (const nav2::LifecycleNode::SharedPtr &nh, const std::string &name, const std::string &ns, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros)
	Initialize the critic with appropriate pointers and parameters. More...
virtual void	debrief (const nav_2d_msgs::msg::Twist2D &)
	debrief informs the critic what the chosen cmd_vel was (if it cares)
std::string	getName ()
void	setScale (const double scale)

Protected Member Functions
bool	getLastPoseOnCostmap (const nav_msgs::msg::Path &global_plan, unsigned int &x, unsigned int &y)
Protected Member Functions inherited from dwb_critics::MapGridCritic
void	reset () override
	Clear the queueDWB_CRITICS_MAP_GRID_He and set cell_values_ to the appropriate number of unreachableCellScore.
void	propagateManhattanDistances ()
	Go through the queue and set the cells to the Manhattan distance from their parents.

Additional Inherited Members
Public Types inherited from dwb_core::TrajectoryCritic
using	Ptr = std::shared_ptr< dwb_core::TrajectoryCritic >
Protected Types inherited from dwb_critics::MapGridCritic
enum class	ScoreAggregationType { Last , Sum , Product }
	Separate modes for aggregating scores across the multiple poses in a trajectory. More...
Protected Attributes inherited from dwb_critics::MapGridCritic
std::shared_ptr< MapGridQueue >	queue_
nav2_costmap_2d::Costmap2D *	costmap_
std::vector< double >	cell_values_
double	obstacle_score_
double	unreachable_score_
	Special cell_values.
bool	stop_on_failure_
ScoreAggregationType	aggregationType_
Protected Attributes inherited from dwb_core::TrajectoryCritic
std::string	name_
std::string	dwb_plugin_name_
std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_
double	scale_
nav2::LifecycleNode::WeakPtr	node_

Detailed Description

Scores trajectories based on how far along the global path they end up.

This trajectory critic helps ensure progress along the global path. It finds the pose from the global path farthest from the robot that is still on the costmap, and aims for that point by assigning the lowest cost to the cell corresponding with that farthest pose.

Definition at line 50 of file goal_dist.hpp.

Member Function Documentation

prepare()

bool dwb_critics::GoalDistCritic::prepare ( const geometry_msgs::msg::Pose &  , const nav_2d_msgs::msg::Twist2D &  , const geometry_msgs::msg::Pose &  , const nav_msgs::msg::Path &    )

overridevirtual

Prior to evaluating any trajectories, look at contextual information constant across all trajectories.

Subclasses may overwrite. Return false in case there is any error.

Parameters

pose	Current pose (costmap frame)
vel	Current velocity
goal	The final goal (costmap frame)
global_plan	Transformed global plan in costmap frame, possibly cropped to nearby points

Reimplemented from dwb_core::TrajectoryCritic.

Definition at line 43 of file goal_dist.cpp.

References nav2_costmap_2d::Costmap2D::getIndex(), dwb_critics::MapGridCritic::propagateManhattanDistances(), and dwb_critics::MapGridCritic::reset().

Referenced by dwb_critics::GoalAlignCritic::prepare().

Here is the call graph for this function:

Here is the caller graph for this function:

---

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

• nav2_dwb_controller/dwb_critics/include/dwb_critics/goal_dist.hpp
• nav2_dwb_controller/dwb_critics/src/goal_dist.cpp