trajectory_cost_function.h
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37 
38 #ifndef TRAJECTORYCOSTFUNCTION_H_
39 #define TRAJECTORYCOSTFUNCTION_H_
40 
42 
43 namespace base_local_planner {
44 
53 public:
54 
60  virtual bool prepare() = 0;
61 
65  virtual double scoreTrajectory(Trajectory &traj) = 0;
66 
67  double getScale() {
68  return scale_;
69  }
70 
71  void setScale(double scale) {
72  scale_ = scale;
73  }
74 
76 
77 protected:
78  TrajectoryCostFunction(double scale = 1.0): scale_(scale) {}
79 
80 private:
81  double scale_;
82 };
83 
84 }
85 
86 #endif /* TRAJECTORYCOSTFUNCTION_H_ */
virtual double scoreTrajectory(Trajectory &traj)=0
Provides an interface for critics of trajectories During each sampling run, a batch of many trajector...
Holds a trajectory generated by considering an x, y, and theta velocity.
Definition: trajectory.h:44


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Jan 21 2021 04:05:49