Public Member Functions | List of all members
base_local_planner::TwirlingCostFunction Class Reference

#include <twirling_cost_function.h>

Inheritance diagram for base_local_planner::TwirlingCostFunction:
Inheritance graph
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Public Member Functions

bool prepare ()
 
double scoreTrajectory (Trajectory &traj)
 
 TwirlingCostFunction ()
 
 ~TwirlingCostFunction ()
 
- Public Member Functions inherited from base_local_planner::TrajectoryCostFunction
double getScale ()
 
void setScale (double scale)
 
virtual ~TrajectoryCostFunction ()
 

Additional Inherited Members

- Protected Member Functions inherited from base_local_planner::TrajectoryCostFunction
 TrajectoryCostFunction (double scale=1.0)
 

Detailed Description

This class provides a cost based on how much a robot "twirls" on its way to the goal. With differential-drive robots, there isn't a choice, but with holonomic or near-holonomic robots, sometimes a robot spins more than you'd like on its way to a goal. This class provides a way to assign a penalty purely to rotational velocities.

Definition at line 52 of file twirling_cost_function.h.

Constructor & Destructor Documentation

base_local_planner::TwirlingCostFunction::TwirlingCostFunction ( )
inline

Definition at line 55 of file twirling_cost_function.h.

base_local_planner::TwirlingCostFunction::~TwirlingCostFunction ( )
inline

Definition at line 56 of file twirling_cost_function.h.

Member Function Documentation

bool base_local_planner::TwirlingCostFunction::prepare ( )
inlinevirtual

General updating of context values if required. Subclasses may overwrite. Return false in case there is any error.

Implements base_local_planner::TrajectoryCostFunction.

Definition at line 60 of file twirling_cost_function.h.

double base_local_planner::TwirlingCostFunction::scoreTrajectory ( Trajectory traj)
virtual

return a score for trajectory traj

Implements base_local_planner::TrajectoryCostFunction.

Definition at line 14 of file twirling_cost_function.cpp.


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


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:44:25