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Feb 4, 2019
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2 changes: 1 addition & 1 deletion dwb_local_planner/README.md
Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@ virtual bool isGoalReached(const geometry_msgs::Pose2D& query_pose, const geomet

* `void initialize(const ros::NodeHandle& planner_nh, std::string name, nav_core2::Costmap::Ptr costmap)` - called once on startup, and then calls `onInit`
* `void onInit()` - May be overwritten to load parameters as needed.
* `void reset()` - called at the beginning of every new navigation, i.e. when we get a new global plan.
* `void reset()` - called at the beginning of every new navigation, i.e. when we get a new global goal via `setGoalPose`.
* `bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan)` - called once per iteration of the planner, prior to the evaluation of all the trajectories
* `double scoreTrajectory(const dwb_msgs::Trajectory2D& traj)` - called once per trajectory
* `void debrief(const nav_2d_msgs::Twist2D& cmd_vel)` - called after all the trajectories to notify what trajectory was chosen.
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Original file line number Diff line number Diff line change
Expand Up @@ -104,7 +104,7 @@ class TrajectoryCritic
/**
* @brief Reset the state of the critic
*
* Reset is called when the planner receives a new global plan.
* Reset is called when the planner receives a new global goal.
* This can be used to discard information specific to one plan.
*/
virtual void reset() {}
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