penalties.h

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#ifndef PENALTIES_H
#define PENALTIES_H

#include <cmath>
#include <Eigen/Core>
#include <g2o/stuff/misc.h>

namespace teb_local_planner
{

inline double penaltyBoundToInterval(const double& var,const double& a,const double& epsilon)
{
  if (var < -a+epsilon)
  {
    return (-var - (a - epsilon));
  }
  if (var <= a-epsilon)
  {
    return 0.;
  }
  else
  {
    return (var - (a - epsilon));
  }
}

inline double penaltyBoundToInterval(const double& var,const double& a, const double& b, const double& epsilon)
{
  if (var < a+epsilon)
  {
    return (-var + (a + epsilon));
  }
  if (var <= b-epsilon)
  {
    return 0.;
  }
  else
  {
    return (var - (b - epsilon));
  }
}


inline double penaltyBoundFromBelow(const double& var, const double& a,const double& epsilon)
{
  if (var >= a+epsilon)
  {
    return 0.;
  }
  else
  {
    return (-var + (a+epsilon));
  }
}

inline double penaltyBoundToIntervalDerivative(const double& var,const double& a, const double& epsilon)
{
  if (var < -a+epsilon)
  {
    return -1;
  }
  if (var <= a-epsilon)
  {
    return 0.;
  }
  else
  {
    return 1;           
  }
}

inline double penaltyBoundToIntervalDerivative(const double& var,const double& a, const double& b, const double& epsilon)
{
  if (var < a+epsilon)
  {
    return -1;
  }
  if (var <= b-epsilon)
  {
    return 0.;
  }
  else
  {
    return 1;           
  }
}


inline double penaltyBoundFromBelowDerivative(const double& var, const double& a,const double& epsilon)
{
  if (var >= a+epsilon)
  {
    return 0.;
  }
  else
  {
    return -1;
  }
}


} // namespace teb_local_planner


#endif // PENALTIES_H