navigation2/nav2_mppi_controller/critics.xml at 1b8a3258c4f473e39b30cdd485705899de9312be · ros-navigation/navigation2 · GitHub

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<class_libraries>
  <library path="mppi_critics">

    <class type="mppi::critics::ObstaclesCritic" base_class_type="mppi::critics::CriticFunction">
      <description>mppi critic for obstacle avoidance</description>
    </class>

    <class type="mppi::critics::CostCritic" base_class_type="mppi::critics::CriticFunction">
      <description>mppi critic for obstacle avoidance using costmap score</description>
    </class>

    <class type="mppi::critics::GoalCritic" base_class_type="mppi::critics::CriticFunction">
      <description>mppi critic for driving towards the goal</description>
    </class>

    <class type="mppi::critics::GoalAngleCritic" base_class_type="mppi::critics::CriticFunction">
      <description>mppi critic for achieving the goal heading angle</description>
    </class>

    <class type="mppi::critics::PathAlignCritic" base_class_type="mppi::critics::CriticFunction">
      <description>mppi critic for aligning to path</description>
    </class>

    <class type="mppi::critics::PathAngleCritic" base_class_type="mppi::critics::CriticFunction">
      <description>mppi critic for tracking the path in the correct heading</description>
    </class>

    <class type="mppi::critics::PathFollowCritic" base_class_type="mppi::critics::CriticFunction">
      <description>mppi critic for driving towards the goal that is furthest among trajectories nearest path points</description>
    </class>

    <class type="mppi::critics::PreferForwardCritic" base_class_type="mppi::critics::CriticFunction">
      <description></description>
    </class>

    <class type="mppi::critics::TwirlingCritic" base_class_type="mppi::critics::CriticFunction">
      <description>mppi critic for preventing twirling behavior when using omnidirectional models</description>
    </class>

    <class type="mppi::critics::ConstraintCritic" base_class_type="mppi::critics::CriticFunction">
      <description>mppi critic for incentivizing moving within kinematic and dynamic bounds</description>
    </class>

    <class type="mppi::critics::VelocityDeadbandCritic" base_class_type="mppi::critics::CriticFunction">
      <description>mppi critic for restricting command velocities in deadband range</description>
    </class>

    <class type="mppi::critics::PathHugCritic" base_class_type="mppi::critics::CriticFunction">
      <description>mppi critic for restricting command velocities in deadband range</description>
    </class>
  </library>
</class_libraries>