mppi::OptimalTrajectoryValidator Class Reference

Abstract base class for validating optimal trajectories from MPPI optimization. More...

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

Collaboration diagram for mppi::OptimalTrajectoryValidator:

Public Types
using	Ptr = std::shared_ptr< OptimalTrajectoryValidator >

Public Member Functions
	OptimalTrajectoryValidator ()=default
	Constructor for mppi::OptimalTrajectoryValidator.
virtual	~OptimalTrajectoryValidator ()=default
	Destructor for mppi::OptimalTrajectoryValidator.
virtual void	initialize (const nav2::LifecycleNode::WeakPtr &parent, const std::string &name, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap, ParametersHandler *param_handler, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, const models::OptimizerSettings &settings)
	Initialize the trajectory validator. More...
virtual ValidationResult	validateTrajectory (const Eigen::ArrayXXf &optimal_trajectory, const models::ControlSequence &, const geometry_msgs::msg::PoseStamped &, const geometry_msgs::msg::Twist &, const nav_msgs::msg::Path &, const geometry_msgs::msg::Pose &)
	Validate the optimal trajectory from MPPI optimization Could be used to check for collisions, progress towards goal, distance from path, min distance from obstacles, dynamic feasibility, etc. More...

Protected Attributes
nav2::LifecycleNode::WeakPtr	node_
std::string	name_
std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_
ParametersHandler *	param_handler_
std::shared_ptr< tf2_ros::Buffer >	tf_buffer_
float	collision_lookahead_time_ {1.0f}
unsigned int	traj_samples_to_evaluate_ {0u}
bool	consider_footprint_ {false}
std::unique_ptr< nav2_costmap_2d::FootprintCollisionChecker< nav2_costmap_2d::Costmap2D * > >	collision_checker_

Detailed Description

Abstract base class for validating optimal trajectories from MPPI optimization.

Definition at line 47 of file optimal_trajectory_validator.hpp.

Member Function Documentation

initialize()

virtual void mppi::OptimalTrajectoryValidator::initialize ( const nav2::LifecycleNode::WeakPtr &  parent, const std::string &  name, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS >  costmap, ParametersHandler *  param_handler, const std::shared_ptr< tf2_ros::Buffer >  tf_buffer, const models::OptimizerSettings &  settings  )

inlinevirtual

Initialize the trajectory validator.

Parameters

node	Weak pointer to the lifecycle node
name	Name of the validator plugin
costmap	Shared pointer to the costmap ROS wrapper
param_handler	Pointer to the parameters handler
tf_buffer	Shared pointer to the TF buffer
settings	Settings for the MPPI optimizer

Definition at line 71 of file optimal_trajectory_validator.hpp.

References mppi::ParametersHandler::getParamGetter().

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validateTrajectory()

virtual ValidationResult mppi::OptimalTrajectoryValidator::validateTrajectory ( const Eigen::ArrayXXf &  optimal_trajectory, const models::ControlSequence &  , const geometry_msgs::msg::PoseStamped &  , const geometry_msgs::msg::Twist &  , const nav_msgs::msg::Path &  , const geometry_msgs::msg::Pose &    )

inlinevirtual

Validate the optimal trajectory from MPPI optimization Could be used to check for collisions, progress towards goal, distance from path, min distance from obstacles, dynamic feasibility, etc.

Parameters

optimal_trajectory	The optimal trajectory to validate
control_sequence	The control sequence to validate
robot_pose	The current pose of the robot
robot_speed	The current speed of the robot
plan	The planned path for the robot
goal	The goal pose for the robot

Returns

True if the trajectory is valid, false otherwise

Definition at line 117 of file optimal_trajectory_validator.hpp.

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

• nav2_mppi_controller/include/nav2_mppi_controller/optimal_trajectory_validator.hpp