Manager of objective function plugins for scoring trajectories. More...
#include <nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp>
Collaboration diagram for mppi::CriticManager:
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) const |
| Score trajectories by the set of loaded critic functions. 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 | publish_critics_stats_ |
| rclcpp::Logger | logger_ {rclcpp::get_logger("MPPIController")} |
Detailed Description
Manager of objective function plugins for scoring trajectories.
Definition at line 42 of file critic_manager.hpp.
Member Function Documentation
◆ evalTrajectoriesScores()
| void mppi::CriticManager::evalTrajectoriesScores | ( | CriticData & | data | ) | const |
Score trajectories by the set of loaded critic functions.
- Parameters
-
CriticData Struct of necessary information to pass to the critic functions
Definition at line 75 of file critic_manager.cpp.
Referenced by mppi::Optimizer::optimize().
Here is the caller graph for this function:
◆ 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().
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_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp
- nav2_mppi_controller/src/critic_manager.cpp
