43 lines
2.4 KiB
XML
Executable File
43 lines
2.4 KiB
XML
Executable File
<class_libraries>
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<library path="lib/libdwb_critics">
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<class type="dwb_critics::PreferForwardCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
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<description>Penalize trajectories with move backwards and/or turn too much</description>
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</class>
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<class type="dwb_critics::GoalDistCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
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<description>Scores trajectories based on how far along the global path they end up.</description>
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</class>
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<class type="dwb_critics::PathAlignCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
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<description>Scores trajectories based on how far from the global path the front of the robot ends up.
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</description>
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</class>
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<class type="dwb_critics::GoalAlignCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
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<description>Scores trajectories based on whether the robot ends up pointing toward the eventual goal
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</description>
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</class>
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<class type="dwb_critics::PathDistCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
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<description>Scores trajectories based on how far from the global path they end up.</description>
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</class>
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<class type="dwb_critics::OscillationCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
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<description>Checks to see whether the sign of the commanded velocity flips frequently</description>
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</class>
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<class type="dwb_critics::RotateToGoalCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
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<description>Forces the commanded trajectories to only be rotations if within a certain distance window
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</description>
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</class>
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<class type="dwb_critics::BaseObstacleCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
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<description>Uses costmap 2d to assign negative costs if a circular robot
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would collide at any point of the trajectory.
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</description>
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</class>
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<class type="dwb_critics::ObstacleFootprintCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
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<description>Uses costmap 2d to assign negative costs if robot footprint is in obstacle
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on any point of the trajectory.
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</description>
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</class>
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<class type="dwb_critics::TwirlingCritic" base_class_type="dwb_local_planner::TrajectoryCritic">
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<description>Penalize trajectories with rotational velocities
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</description>
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</class>
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</library>
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</class_libraries>
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