Class RPObjective

Inheritance Relationships

Base Type

Derived Types

Class Documentation

class RPObjective : public f2c::obj::BaseObjective<RPObjective>

Base class for objective functions of route planners.

Subclassed by f2c::obj::CompleteTurnPathObj< T, R >, f2c::obj::DirectDistPathObj

Public Functions

virtual double computeCost(const F2CPoint &p1, const F2CPoint &p2)

Return the cost of going from point p1 to point p2

Parameters:
  • p1 – Start point

  • p2 – End point

Returns:

Cost value

virtual double computeCost(const F2CPoint &p1, double ang1, const F2CPoint &p2)

Return the cost of going from point p1 to point p2

Parameters:
  • p1 – Start point

  • ang1 – Angle of the robot in p1

  • p2 – End point

Returns:

Cost value

virtual double computeCost(const F2CPoint &p1, double ang1, const F2CPoint &p2, double ang2)

Return the cost of going from point p1 to point p2

Parameters:
  • p1 – Start point

  • ang1 – Angle of the robot in p1

  • p2 – End point

  • ang2 – Angle of the robot in p2

Returns:

Cost value

virtual double computeCost(const F2CPoint &p1, const F2CPoint &p2, double ang2)

Return the cost of going from point p1 to point p2

Parameters:
  • p1 – Start point

  • p2 – End point

  • ang2 – Angle of the robot in p2

Returns:

Cost value

virtual double computeCost(const F2CSwath &s, const F2CPoint &p)

Return the cost of going from swath s to point p

Parameters:
  • s – Start point (end of the swath)

  • p – End point

Returns:

Cost value

virtual double computeCost(const F2CSwath &s1, const F2CSwath &s2)

Return the cost of going from swath s to point p

Parameters:
  • s1 – Start point (end of the swath)

  • s2 – End point (start of the swath)

Returns:

Cost value

virtual double computeCost(const F2CSwath &s, const F2CPoint &p, double ang)

Return the cost of going from swath s to point p

Parameters:
  • s – Start point (end of the swath)

  • p – End point

  • ang – Angle of the robot in p

Returns:

Cost value

virtual double computeCost(const F2CPoint &p, const F2CSwath &s)

Return the cost of going from point p to swath s

Parameters:
  • p – Start point

  • s – End point (start of the swath)

Returns:

Cost value

virtual double computeCost(const F2CPoint &p, double ang, const F2CSwath &s)

Return the cost of going from point p to swath s

Parameters:
  • p – Start point

  • ang – Angle of the robot in p

  • s – End point (start of the swath)

Returns:

Cost value

virtual double computeCost(const std::vector<F2CPoint> &ps)

Return the cost of covering all the points of ps

Parameters:

ps – vector of points

Returns:

Cost value

virtual double computeCost(const F2CMultiPoint &ps)

Return the cost of covering all the points of ps

Parameters:

ps – vector of points

Returns:

Cost value

virtual double computeCost(const F2CSwath &s, const F2CMultiPoint &ps)

Return the cost of going from swath s to the first point of ps

Parameters:
  • s – Start point (end of the swath)

  • ps – vector of points

Returns:

Cost value

virtual double computeCost(const F2CSwaths &s, const F2CMultiPoint &ps)

Return the cost of going from the last swath of s to the first point of ps

Parameters:
  • s – Start point (end of the last swath)

  • ps – vector of points (first point)

Returns:

Cost value

virtual double computeCost(const F2CMultiPoint &ps, const F2CSwath &s)

Return the cost of going from the last point of ps to the swath s

Parameters:
  • ps – vector of points (end point)

  • s – Start point (start of the swath)

Returns:

Cost value

virtual double computeCost(const F2CMultiPoint &ps, const F2CSwaths &s)

Return the cost of going from the last point of ps to the first swath of s

Parameters:
  • ps – vector of points (end point)

  • s – Start point (start of the first swath)

Returns:

Cost value

virtual double computeCost(const F2CSwath &s)

Return the cost of covering a swath

Parameters:

s – Swath

Returns:

Cost value

virtual double computeCost(const F2CSwaths &swaths)

Return the cost of covering a vector of swaths.

Costs of each swath + Cost of going from one to another. The order may affect the cost.

Parameters:

s – Swaths

Returns:

Cost value

virtual double computeCost(const F2CRoute &r)

Return the cost of covering a Route.

Costs of each swath + Cost of going from one to another.

Parameters:

r – Route

Returns:

Cost value