PathAlignCritic

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

Parameters

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

<dwb plugin>.<name>.forward_point_distance

Type: double Default: 0.325

Point in front of robot to look ahead to compute angular change from.

<dwb plugin>.<name>.aggregation_type

Type: string Default: "last"

last, sum, or product combination methods.

<dwb plugin>.<name>.scale

Type: double Default: 1.0

Weighed scale for critic.