base_local_planner::TrajectoryCostFunction Class Reference

Provides an interface for critics of trajectories During each sampling run, a batch of many trajectories will be scored using such a cost function. The prepare method is called before each batch run, and then for each trajectory of the sampling set, score_trajectory may be called. More...

`#include <trajectory_cost_function.h>`

Inheritance diagram for base_local_planner::TrajectoryCostFunction:

## Public Member Functions | |

double | getScale () |

virtual bool | prepare ()=0 |

virtual double | scoreTrajectory (Trajectory &traj)=0 |

void | setScale (double scale) |

virtual | ~TrajectoryCostFunction () |

## Protected Member Functions | |

TrajectoryCostFunction (double scale=1.0) | |

## Private Attributes | |

double | scale_ |

Provides an interface for critics of trajectories During each sampling run, a batch of many trajectories will be scored using such a cost function. The prepare method is called before each batch run, and then for each trajectory of the sampling set, score_trajectory may be called.

Definition at line 52 of file trajectory_cost_function.h.

virtual base_local_planner::TrajectoryCostFunction::~TrajectoryCostFunction | ( | ) | ` [inline, virtual]` |

Definition at line 75 of file trajectory_cost_function.h.

base_local_planner::TrajectoryCostFunction::TrajectoryCostFunction | ( | double | scale = `1.0` | ) | ` [inline, protected]` |

Definition at line 78 of file trajectory_cost_function.h.

double base_local_planner::TrajectoryCostFunction::getScale | ( | ) | ` [inline]` |

Definition at line 67 of file trajectory_cost_function.h.

virtual bool base_local_planner::TrajectoryCostFunction::prepare | ( | ) | ` [pure virtual]` |

General updating of context values if required. Subclasses may overwrite. Return false in case there is any error.

Implemented in base_local_planner::MapGridCostFunction, base_local_planner::ObstacleCostFunction, base_local_planner::OscillationCostFunction, and base_local_planner::PreferForwardCostFunction.

virtual double base_local_planner::TrajectoryCostFunction::scoreTrajectory | ( | Trajectory & | traj | ) | ` [pure virtual]` |

return a score for trajectory traj

Implemented in base_local_planner::MapGridCostFunction, base_local_planner::ObstacleCostFunction, base_local_planner::OscillationCostFunction, and base_local_planner::PreferForwardCostFunction.

void base_local_planner::TrajectoryCostFunction::setScale | ( | double | scale | ) | ` [inline]` |

Definition at line 71 of file trajectory_cost_function.h.

double base_local_planner::TrajectoryCostFunction::scale_` [private]` |

Definition at line 81 of file trajectory_cost_function.h.

The documentation for this class was generated from the following file:

base_local_planner

Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com

autogenerated on Sun Mar 3 2019 03:46:30

Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com

autogenerated on Sun Mar 3 2019 03:46:30