ompl::base::CostMap2DOptimizationObjective Class Reference

An optimization objective which defines path cost using the idea of mechanical work. More...

#include <cost_map_2d_optimization_objective.h>

List of all members.

Public Member Functions
	CostMap2DOptimizationObjective (const SpaceInformationPtr &si, double pathLengthWeight=0.0001)
	Constructor.
void	createCostMap ()
	Helper Function: calculate cost map.
void	getMinMaxPixels ()
	Helper Function: gets the min and max values of the cost map.
double	getPathLengthWeight () const
void	loadImage (std::string image_path)
virtual ompl::base::Cost	motionCost (const State *s1, const State *s2) const
	Defines motion cost.
int	natRound (double x) const
	NatRounding helper function to make readings from cost map more accurate.
void	setCostMatrix (ompl_visual_tools::intMatrixPtr cost)
	Passed in a cost matrix loaded from an image file, etc.
ompl::base::Cost	stateCost (const State *state) const
	~CostMap2DOptimizationObjective ()
	Deconstructor.
Public Attributes
ompl_visual_tools::intMatrixPtr	cost_
ompl_visual_tools::PPMImage *	image_
double	max_cost_threshold_
double	max_cost_threshold_percent_
Protected Attributes
int	max_pixel_
int	min_pixel_
double	pathLengthWeight_
	The weighing factor for the path length in the mechanical work objective formulation.

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Detailed Description

An optimization objective which defines path cost using the idea of mechanical work.

Definition at line 70 of file cost_map_2d_optimization_objective.h.

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Constructor & Destructor Documentation

ompl::base::CostMap2DOptimizationObjective::CostMap2DOptimizationObjective	(	const SpaceInformationPtr &	si,
		double	pathLengthWeight = 0.0001
	)		[inline]

Constructor.

Definition at line 74 of file cost_map_2d_optimization_objective.h.

ompl::base::CostMap2DOptimizationObjective::~CostMap2DOptimizationObjective

(

)

[inline]

Deconstructor.

Definition at line 86 of file cost_map_2d_optimization_objective.h.

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Member Function Documentation

void ompl::base::CostMap2DOptimizationObjective::createCostMap

(

)

[inline]

Helper Function: calculate cost map.

Definition at line 161 of file cost_map_2d_optimization_objective.h.

void ompl::base::CostMap2DOptimizationObjective::getMinMaxPixels

(

)

[inline]

Helper Function: gets the min and max values of the cost map.

Definition at line 204 of file cost_map_2d_optimization_objective.h.

double ompl::base::CostMap2DOptimizationObjective::getPathLengthWeight

(

)

const [inline]

Definition at line 91 of file cost_map_2d_optimization_objective.h.

void ompl::base::CostMap2DOptimizationObjective::loadImage

(

std::string

image_path

)

[inline]

Definition at line 130 of file cost_map_2d_optimization_objective.h.

virtual ompl::base::Cost ompl::base::CostMap2DOptimizationObjective::motionCost	(	const State *	s1,
		const State *	s2
	)		const [inline, virtual]

Defines motion cost.

Definition at line 97 of file cost_map_2d_optimization_objective.h.

int ompl::base::CostMap2DOptimizationObjective::natRound

(

double

x

)

const [inline]

NatRounding helper function to make readings from cost map more accurate.

Parameters:

double

Returns:

rounded down number

Definition at line 125 of file cost_map_2d_optimization_objective.h.

void ompl::base::CostMap2DOptimizationObjective::setCostMatrix

(

ompl_visual_tools::intMatrixPtr

cost

)

[inline]

Passed in a cost matrix loaded from an image file, etc.

Definition at line 115 of file cost_map_2d_optimization_objective.h.

ompl::base::Cost ompl::base::CostMap2DOptimizationObjective::stateCost

(

const State *

state

)

const [inline]

Definition at line 104 of file cost_map_2d_optimization_objective.h.

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Member Data Documentation

ompl_visual_tools::intMatrixPtr ompl::base::CostMap2DOptimizationObjective::cost_

Definition at line 225 of file cost_map_2d_optimization_objective.h.

ompl_visual_tools::PPMImage* ompl::base::CostMap2DOptimizationObjective::image_

Definition at line 222 of file cost_map_2d_optimization_objective.h.

double ompl::base::CostMap2DOptimizationObjective::max_cost_threshold_

Definition at line 228 of file cost_map_2d_optimization_objective.h.

double ompl::base::CostMap2DOptimizationObjective::max_cost_threshold_percent_

Definition at line 231 of file cost_map_2d_optimization_objective.h.

int ompl::base::CostMap2DOptimizationObjective::max_pixel_ [protected]

Definition at line 239 of file cost_map_2d_optimization_objective.h.

int ompl::base::CostMap2DOptimizationObjective::min_pixel_ [protected]

Definition at line 240 of file cost_map_2d_optimization_objective.h.

double ompl::base::CostMap2DOptimizationObjective::pathLengthWeight_ [protected]

The weighing factor for the path length in the mechanical work objective formulation.

Definition at line 236 of file cost_map_2d_optimization_objective.h.

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

• cost_map_2d_optimization_objective.h