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) 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_
rclcpp::Logger	logger_ {rclcpp::get_logger("MPPIController")}

Detailed Description

Manager of objective function plugins for scoring trajectories.

Definition at line 41 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 67 of file critic_manager.cpp.

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

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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