From 45bab9d087e2a116914aa865bd6b96f9d2102de8 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Fri, 2 Feb 2024 14:35:41 -0800 Subject: [PATCH] Update cost_critic.cpp Signed-off-by: Steve Macenski --- nav2_mppi_controller/src/critics/cost_critic.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/nav2_mppi_controller/src/critics/cost_critic.cpp b/nav2_mppi_controller/src/critics/cost_critic.cpp index 246a8437966..137e9433760 100644 --- a/nav2_mppi_controller/src/critics/cost_critic.cpp +++ b/nav2_mppi_controller/src/critics/cost_critic.cpp @@ -128,6 +128,8 @@ void CostCritic::score(CriticData & data) } // Let near-collision trajectory points be punished severely + // Note that we collision check based on the footprint actual, + // but score based on the center-point cost regardless using namespace nav2_costmap_2d; // NOLINT if (pose_cost >= INSCRIBED_INFLATED_OBSTACLE) { repulsive_cost[i] += critical_cost_;