GoalAlignCritic

Scores a trajectory based on how well aligned the trajectory is with the goal pose.

Parameters

<dwb plugin>: DWB plugin name defined in the controller_plugin_ids parameter in Controller Server.

<name>: GoalAlignCritic 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:

Type	Default
double	1.0

Description

Weighed scale for critic.