penalties.h

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 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
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 * Author: Christoph Rösmann
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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