PreferForwardCritic

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

Type: double Default: 1.0

Penalty to apply to backward motion.

<dwb plugin>.<name>.strafe_x

Type: double Default: 0.1

Minimum X velocity before penalty.

<dwb plugin>.<name>.strafe_theta

Type: double Default: 0.2

Minimum angular velocity before applying penalty.

<dwb plugin>.<name>.theta_scale

Type: double Default: 10.0

Weight for angular velocity component.

<dwb plugin>.<name>.scale

Type: double Default: 1.0

Weighed scale for critic.