Scores edges by the distance traversed, weighted by speed limit metadata to optimize for time to goal, when %-based speed limits are set. More...
#include <nav2_route/include/nav2_route/plugins/edge_cost_functions/distance_scorer.hpp>
Inheritance diagram for nav2_route::DistanceScorer:
Collaboration diagram for nav2_route::DistanceScorer:
Public Member Functions | |
| DistanceScorer ()=default | |
| Constructor. | |
| virtual | ~DistanceScorer ()=default |
| destructor | |
| void | configure (const nav2::LifecycleNode::SharedPtr node, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, std::shared_ptr< nav2_costmap_2d::CostmapSubscriber > costmap_subscriber, const std::string &name) override |
| Configure. | |
| bool | score (const EdgePtr edge, const RouteRequest &route_request, const EdgeType &edge_type, float &cost) override |
| Main scoring plugin API. More... | |
| std::string | getName () override |
| Get name of the plugin for parameter scope mapping. More... | |
 Public Member Functions inherited from nav2_route::EdgeCostFunction | |
| EdgeCostFunction ()=default | |
| Constructor. | |
| virtual | ~EdgeCostFunction ()=default |
| Virtual destructor. | |
| virtual void | prepare () |
| Prepare for a new cycle, by resetting state, grabbing data to use for all immediate requests, or otherwise prepare for scoring. | |
Protected Attributes | |
| std::string | name_ |
| std::string | speed_tag_ |
| float | weight_ |
Additional Inherited Members | |
| Public Types inherited from nav2_route::EdgeCostFunction | |
| using | Ptr = std::shared_ptr< nav2_route::EdgeCostFunction > |
Detailed Description
Scores edges by the distance traversed, weighted by speed limit metadata to optimize for time to goal, when %-based speed limits are set.
Definition at line 33 of file distance_scorer.hpp.
Member Function Documentation
◆ getName()
|
overridevirtual |
Get name of the plugin for parameter scope mapping.
- Returns
- Name
Implements nav2_route::EdgeCostFunction.
Definition at line 57 of file distance_scorer.cpp.
Referenced by configure().
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◆ score()
|
overridevirtual |
Main scoring plugin API.
- Parameters
-
edge The edge pointer to score, which has access to the start/end nodes and their associated metadata and actions cost of the edge scored
- Returns
- bool if this edge is open valid to traverse
Implements nav2_route::EdgeCostFunction.
Definition at line 43 of file distance_scorer.cpp.
The documentation for this class was generated from the following files:
- nav2_route/include/nav2_route/plugins/edge_cost_functions/distance_scorer.hpp
- nav2_route/src/plugins/edge_cost_functions/distance_scorer.cpp
