Public Member Functions | Public Attributes | Protected Attributes
ompl::base::CostMap2DOptimizationObjective Class Reference

An optimization objective which defines path cost using the idea of mechanical work. More...

#include <cost_map_2d_optimization_objective.h>

List of all members.

Public Member Functions

 CostMap2DOptimizationObjective (const SpaceInformationPtr &si, double pathLengthWeight=0.0001)
 Constructor.
void createCostMap ()
 Helper Function: calculate cost map.
void getMinMaxPixels ()
 Helper Function: gets the min and max values of the cost map.
double getPathLengthWeight () const
void loadImage (std::string image_path)
virtual ompl::base::Cost motionCost (const State *s1, const State *s2) const
 Defines motion cost.
int natRound (double x) const
 NatRounding helper function to make readings from cost map more accurate.
void setCostMatrix (ompl_visual_tools::intMatrixPtr cost)
 Passed in a cost matrix loaded from an image file, etc.
ompl::base::Cost stateCost (const State *state) const
 ~CostMap2DOptimizationObjective ()
 Deconstructor.

Public Attributes

ompl_visual_tools::intMatrixPtr cost_
ompl_visual_tools::PPMImageimage_
double max_cost_threshold_
double max_cost_threshold_percent_

Protected Attributes

int max_pixel_
int min_pixel_
double pathLengthWeight_
 The weighing factor for the path length in the mechanical work objective formulation.

Detailed Description

An optimization objective which defines path cost using the idea of mechanical work.

Definition at line 70 of file cost_map_2d_optimization_objective.h.


Constructor & Destructor Documentation

ompl::base::CostMap2DOptimizationObjective::CostMap2DOptimizationObjective ( const SpaceInformationPtr &  si,
double  pathLengthWeight = 0.0001 
) [inline]

Constructor.

Definition at line 74 of file cost_map_2d_optimization_objective.h.

Deconstructor.

Definition at line 86 of file cost_map_2d_optimization_objective.h.


Member Function Documentation

Helper Function: calculate cost map.

Definition at line 161 of file cost_map_2d_optimization_objective.h.

Helper Function: gets the min and max values of the cost map.

Definition at line 204 of file cost_map_2d_optimization_objective.h.

Definition at line 91 of file cost_map_2d_optimization_objective.h.

void ompl::base::CostMap2DOptimizationObjective::loadImage ( std::string  image_path) [inline]

Definition at line 130 of file cost_map_2d_optimization_objective.h.

virtual ompl::base::Cost ompl::base::CostMap2DOptimizationObjective::motionCost ( const State *  s1,
const State *  s2 
) const [inline, virtual]

Defines motion cost.

Definition at line 97 of file cost_map_2d_optimization_objective.h.

int ompl::base::CostMap2DOptimizationObjective::natRound ( double  x) const [inline]

NatRounding helper function to make readings from cost map more accurate.

Parameters:
double
Returns:
rounded down number

Definition at line 125 of file cost_map_2d_optimization_objective.h.

Passed in a cost matrix loaded from an image file, etc.

Definition at line 115 of file cost_map_2d_optimization_objective.h.

ompl::base::Cost ompl::base::CostMap2DOptimizationObjective::stateCost ( const State *  state) const [inline]

Definition at line 104 of file cost_map_2d_optimization_objective.h.


Member Data Documentation

Definition at line 225 of file cost_map_2d_optimization_objective.h.

Definition at line 222 of file cost_map_2d_optimization_objective.h.

Definition at line 228 of file cost_map_2d_optimization_objective.h.

Definition at line 231 of file cost_map_2d_optimization_objective.h.

Definition at line 239 of file cost_map_2d_optimization_objective.h.

Definition at line 240 of file cost_map_2d_optimization_objective.h.

The weighing factor for the path length in the mechanical work objective formulation.

Definition at line 236 of file cost_map_2d_optimization_objective.h.


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


ompl_visual_tools
Author(s): Dave Coleman
autogenerated on Thu Feb 11 2016 23:58:14