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diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -654,6 +654,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#goal-angle-critic">Goal Angle Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#goal-critic">Goal Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#obstacles-critic">Obstacles Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#cost-critic">Cost Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#path-align-critic">Path Align Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#path-angle-critic">Path Angle Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
@@ -927,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#addition-of-new-mppi-cost-critic">Addition of new MPPI Cost Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>

diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
@@ -654,6 +654,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#goal-angle-critic">Goal Angle Critic</a></li>
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 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#obstacles-critic">Obstacles Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#cost-critic">Cost Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-align-critic">Path Align Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-angle-critic">Path Angle Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
@@ -927,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#addition-of-new-mppi-cost-critic">Addition of new MPPI Cost Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>

diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -654,6 +654,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#goal-angle-critic">Goal Angle Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#goal-critic">Goal Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#obstacles-critic">Obstacles Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#cost-critic">Cost Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-align-critic">Path Align Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-angle-critic">Path Angle Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
@@ -927,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#addition-of-new-mppi-cost-critic">Addition of new MPPI Cost Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>

diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
@@ -654,6 +654,7 @@
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 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#obstacles-critic">Obstacles Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#cost-critic">Cost Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-align-critic">Path Align Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-angle-critic">Path Angle Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
@@ -927,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#addition-of-new-mppi-cost-critic">Addition of new MPPI Cost Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>

diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
@@ -654,6 +654,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#goal-angle-critic">Goal Angle Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#goal-critic">Goal Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#obstacles-critic">Obstacles Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#cost-critic">Cost Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-align-critic">Path Align Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-angle-critic">Path Angle Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
@@ -927,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#addition-of-new-mppi-cost-critic">Addition of new MPPI Cost Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>

diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
@@ -654,6 +654,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#goal-angle-critic">Goal Angle Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#goal-critic">Goal Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#obstacles-critic">Obstacles Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#cost-critic">Cost Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-align-critic">Path Align Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-angle-critic">Path Angle Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
@@ -927,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#addition-of-new-mppi-cost-critic">Addition of new MPPI Cost Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>

diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
@@ -654,6 +654,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#goal-angle-critic">Goal Angle Critic</a></li>
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 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#obstacles-critic">Obstacles Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#cost-critic">Cost Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-align-critic">Path Align Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-angle-critic">Path Angle Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
@@ -927,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#addition-of-new-mppi-cost-critic">Addition of new MPPI Cost Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>

diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
@@ -654,6 +654,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#goal-angle-critic">Goal Angle Critic</a></li>
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 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#obstacles-critic">Obstacles Critic</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#cost-critic">Cost Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-align-critic">Path Align Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-angle-critic">Path Angle Critic</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../configuration/packages/configuring-mppic.html#path-follow-critic">Path Follow Critic</a></li>
@@ -927,6 +928,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-goal-critic">Changes to MPPI Goal Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-angle-critic">Changes to MPPI Path Angle Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality">Changes to MPPI Path Handling For Directionality</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#addition-of-new-mppi-cost-critic">Addition of new MPPI Cost Critic</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#move-error-code-enumerations">Move Error Code Enumerations</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#substitution-in-parameter-file">Substitution in parameter file</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result">Allow Behavior Server Plugins to Access The Action Result</a></li>