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_

Detailed Description

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.

Constructor & Destructor Documentation

virtual base_local_planner::TrajectoryCostFunction::~TrajectoryCostFunction ( )

inlinevirtual

Definition at line 75 of file trajectory_cost_function.h.

base_local_planner::TrajectoryCostFunction::TrajectoryCostFunction ( double  scale = 1.0 )

inlineprotected

Definition at line 78 of file trajectory_cost_function.h.

Member Function Documentation

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::TwirlingCostFunction, 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::TwirlingCostFunction, 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.

Member Data Documentation

double base_local_planner::TrajectoryCostFunction::scale_

private

Definition at line 81 of file trajectory_cost_function.h.

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

• trajectory_cost_function.h