PathAlignCritic
Scores a trajectory based on how well it is aligned to the path provided by the global planner.
Parameters
<name>: PathAlignCritic critic name defined in the <dwb plugin>.critics parameter defined in DWB Controller.
<dwb plugin>.<name>.forward_point_distance: |
|---|
| |
| Type |
Default |
| double |
0.325 |
- Description
Point in front of robot to look ahead to compute angular change from.
|
<dwb plugin>.<name>.aggregation_type: |
|---|
| |
| Type |
Default |
| string |
“last” |
- Description
last, sum, or product combination methods.
|
<dwb plugin>.<name>.scale: |
|---|
| |
- Description
Weighed scale for critic.
|