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.
|