Inheritance diagram for mppi::critics::PathAlignCritic:

Collaboration diagram for mppi::critics::PathAlignCritic:

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Public Member Functions
void	initialize () override
	Initialize critic.

void	score (CriticData &data) override
	Evaluate cost related to trajectories path alignment. More...

Public Member Functions inherited from mppi::critics::CriticFunction
	CriticFunction ()=default
	Constructor for mppi::critics::CriticFunction.

virtual	~CriticFunction ()=default
	Destructor for mppi::critics::CriticFunction.

void	on_configure (nav2::LifecycleNode::WeakPtr parent, const std::string &parent_name, const std::string &name, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros, ParametersHandler *param_handler)
	Configure critic on bringup. More...

std::string	getName ()
	Get name of critic.

Protected Attributes
size_t	offset_from_furthest_ {0}

int	trajectory_point_step_ {0}

float	threshold_to_consider_ {0}

float	max_path_occupancy_ratio_ {0}

bool	use_path_orientations_ {false}

unsigned int	power_ {0}

float	weight_ {0}

bool	enforce_path_inversion_ {false}

Protected Attributes inherited from mppi::critics::CriticFunction
bool	enabled_

std::string	name_

std::string	parent_name_

nav2::LifecycleNode::WeakPtr	parent_

std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_

nav2_costmap_2d::Costmap2D *	costmap_ {nullptr}

ParametersHandler *	parameters_handler_

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

Detailed Description

Definition at line 32 of file path_align_critic.hpp.

Member Function Documentation

void mppi::critics::PathAlignCritic::score ( CriticData & data )

overridevirtual

Evaluate cost related to trajectories path alignment.

Parameters

costs [out] add reference cost values to this tensor

Definition at line 43 of file path_align_critic.cpp.

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