PathDistCritic

Scores a trajectory based on how well it is aligned to the path provided by the global planner.

Parameters

<name>: PathDistCritic critic name defined in the <dwb plugin>.critics parameter defined in DWB Controller.

<dwb plugin>.<name>.aggregation_type:
 
Type Default
string “last”
Description

last, sum, or product combination methods.

<dwb plugin>.<name>.scale:
 
Type Default
double 1.0
Description

Weighed scale for critic.