critics.xml

<class_libraries>
  <library path="critics">

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

  </library>
</class_libraries>