Trajectory Cost Evaluation

Kompass includes built-in cost evaluation functions (implemented in kompass_cpp) and supports running custom cost evaluation functions to calculate the overall cost of a trajectory during navigation.

Cost	Description
Reference Path	Measured using the average distance between the trajectory under evaluation and the closest reference (global) path segment. Added for favoring trajectories that remain close to the reference
Goal Destination	Evaluated based on the distance between the end of the trajectory and the final destination point of the navigation. Added for favoring trajectories that lead the robot closer to the goal point
Obstacles Min-Distance	Evaluated using the minimum distance between the trajectory points and the surrounding obstacles. Supports information from direct sensor data (LaserScan and PointCloud). Added for favoring trajectories that keep the robot away from nearby obstacles
Smoothness	Based on the average change in velocity along the trajectory under evaluation
Jerk	Based on the average change in acceleration along the trajectory under evaluation