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>
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_ |
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 87 of file trajectory_cost_function.h.
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inlinevirtual |
Definition at line 110 of file trajectory_cost_function.h.
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inlineprotected |
Definition at line 113 of file trajectory_cost_function.h.
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inline |
Definition at line 102 of file trajectory_cost_function.h.
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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.
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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.
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inline |
Definition at line 106 of file trajectory_cost_function.h.
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private |
Definition at line 116 of file trajectory_cost_function.h.