From cf733b5d702de9319a6c876cc78bf82ede1940de Mon Sep 17 00:00:00 2001 From: "David V. Lu" Date: Mon, 4 Feb 2019 12:51:56 -0500 Subject: [PATCH] Update reset documentation --- dwb_local_planner/README.md | 2 +- dwb_local_planner/include/dwb_local_planner/trajectory_critic.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/dwb_local_planner/README.md b/dwb_local_planner/README.md index 4e9ff24..870ac46 100644 --- a/dwb_local_planner/README.md +++ b/dwb_local_planner/README.md @@ -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. diff --git a/dwb_local_planner/include/dwb_local_planner/trajectory_critic.h b/dwb_local_planner/include/dwb_local_planner/trajectory_critic.h index f74fb19..55fb8ce 100644 --- a/dwb_local_planner/include/dwb_local_planner/trajectory_critic.h +++ b/dwb_local_planner/include/dwb_local_planner/trajectory_critic.h @@ -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() {}