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include
base_local_planner
trajectory_cost_function.h
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/*********************************************************************
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*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* disclaimer in the documentation and/or other materials provided
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* Author: TKruse
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*********************************************************************/
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#ifndef TRAJECTORYCOSTFUNCTION_H_
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#define TRAJECTORYCOSTFUNCTION_H_
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#include <
base_local_planner/trajectory.h
>
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namespace
base_local_planner
{
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class
TrajectoryCostFunction
{
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public
:
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virtual
bool
prepare
() = 0;
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virtual
double
scoreTrajectory
(
Trajectory
&traj) = 0;
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double
getScale
() {
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return
scale_
;
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}
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void
setScale
(
double
scale) {
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scale_
= scale;
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}
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virtual
~TrajectoryCostFunction
() {}
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protected
:
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TrajectoryCostFunction
(
double
scale = 1.0):
scale_
(scale) {}
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private
:
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double
scale_
;
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};
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}
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#endif
/* TRAJECTORYCOSTFUNCTION_H_ */
trajectory.h
base_local_planner::TrajectoryCostFunction::scoreTrajectory
virtual double scoreTrajectory(Trajectory &traj)=0
base_local_planner::TrajectoryCostFunction::getScale
double getScale()
Definition:
trajectory_cost_function.h:67
base_local_planner::TrajectoryCostFunction::scale_
double scale_
Definition:
trajectory_cost_function.h:81
base_local_planner
Definition:
costmap_model.h:44
base_local_planner::TrajectoryCostFunction::prepare
virtual bool prepare()=0
base_local_planner::TrajectoryCostFunction::TrajectoryCostFunction
TrajectoryCostFunction(double scale=1.0)
Definition:
trajectory_cost_function.h:78
base_local_planner::TrajectoryCostFunction::~TrajectoryCostFunction
virtual ~TrajectoryCostFunction()
Definition:
trajectory_cost_function.h:75
base_local_planner::TrajectoryCostFunction
Provides an interface for critics of trajectories During each sampling run, a batch of many trajector...
Definition:
trajectory_cost_function.h:52
base_local_planner::TrajectoryCostFunction::setScale
void setScale(double scale)
Definition:
trajectory_cost_function.h:71
base_local_planner::Trajectory
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