Scores trajectories that move the robot forwards more highly.
Parameters
<dwb plugin>
: DWB plugin name defined in the controller_plugin_ids parameter in Controller Server.
<name>
: PreferForwardCritic critic name defined in the <dwb plugin>.critics parameter defined in DWB Controller.
<dwb plugin> .<name> .penalty: |
|
- Description
Penalty to apply to backward motion.
|
<dwb plugin> .<name> .strafe_x: |
|
- Description
Minimum X velocity before penalty.
|
<dwb plugin> .<name> .strafe_theta: |
|
- Description
Minimum angular velocity before applying penalty.
|
<dwb plugin> .<name> .theta_scale: |
|
- Description
Weight for angular velocity component.
|
<dwb plugin> .<name> .scale: |
|
- Description
Weighed scale for critic.
|
<dwb plugin> .<name> .scale: |
|
- Description
Weighed scale for critic.
|