Class to compute the cost of turning from one point to another. More...

#include <complete_turn_path_obj.h>

Inheritance diagram for f2c::obj::CompleteTurnPathObj< T, R >:

Public Member Functions
	CompleteTurnPathObj (const F2CRobot &params)

	CompleteTurnPathObj (const F2CRobot &params, const T &turn_planner)

virtual double	computeCost (const F2CMultiPoint &ps)

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

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

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

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

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

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

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

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

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

virtual double	computeCost (const F2CRoute &r)
	Return the cost of covering a Route. More...

virtual double	computeCost (const F2CSwath &s)

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

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

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

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

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

virtual double	computeCost (const F2CSwaths &swaths)
	Return the cost of covering a vector of swaths. More...

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

void	setRobot (const F2CRobot &robot)

void	setTurnPlanner (const T &turner)

Public Member Functions inherited from f2c::obj::RPObjective
virtual double	computeCost (const F2CMultiPoint &ps)

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

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

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

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

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

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

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

virtual double	computeCost (const F2CRoute &r)
	Return the cost of covering a Route. More...

virtual double	computeCost (const F2CSwath &s)

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

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

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

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

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

virtual double	computeCost (const F2CSwaths &swaths)
	Return the cost of covering a vector of swaths. More...

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

Public Member Functions inherited from f2c::obj::BaseObjective< RPObjective >
double	computeCostWithMinimizingSign (const T1 &t1)
	Compute the cost function with minimizing sign. More...

double	computeCostWithMinimizingSign (const T1 &t1, const T2 &t2)

double	computeCostWithMinimizingSign (const T1 &t1, const T2 &t2, const T3 &t3)

double	computeCostWithMinimizingSign (const T1 &t1, const T2 &t2, const T3 &t3, const T4 &t4)

virtual bool	isMaximizing () const
	Return true if the objective is to maximize the cost function. More...

virtual bool	isMinimizing () const
	Return true if the objective is to minimize the cost function. More...

virtual	~BaseObjective ()=default

Private Attributes
R	pp_objective

F2CRobot	robot

T	turn_planner
	Planner that derives from f2c::pp::TurningBase. More...

Detailed Description

template<class T, class R = PPObjective>
class f2c::obj::CompleteTurnPathObj< T, R >

Class to compute the cost of turning from one point to another.

This is the closest result to the real cost of executing the path plan, as it actually compute all the turns.

Warning: Do not use this objective function with slow planners as too many turns may need to be computed for a simple path.

Definition at line 26 of file complete_turn_path_obj.h.

Constructor & Destructor Documentation

◆ CompleteTurnPathObj() [1/2]

template<class T , class R >

f2c::obj::CompleteTurnPathObj< T, R >::CompleteTurnPathObj ( const F2CRobot & params )

explicit

Definition at line 58 of file complete_turn_path_obj.h.

◆ CompleteTurnPathObj() [2/2]

template<class T , class R >

f2c::obj::CompleteTurnPathObj< T, R >::CompleteTurnPathObj	(	const F2CRobot &	params,
		const T &	turn_planner
	)

explicit

Definition at line 63 of file complete_turn_path_obj.h.

Member Function Documentation

◆ computeCost() [1/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

Return the cost of covering all the points of ps

Parameters

ps	vector of points

Returns: Cost value

Definition at line 63 of file rp_objective.cpp.

◆ computeCost() [2/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

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

Definition at line 88 of file rp_objective.cpp.

◆ computeCost() [3/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

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

Definition at line 96 of file rp_objective.cpp.

◆ computeCost() [4/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

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

Definition at line 46 of file rp_objective.cpp.

◆ computeCost() [5/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

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

Definition at line 50 of file rp_objective.cpp.

◆ computeCost() [6/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

Return the cost of going from point p1 to point p2

Parameters

p1	Start point
p2	End point

Returns: Cost value

Definition at line 11 of file rp_objective.cpp.

◆ computeCost() [7/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

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

Definition at line 22 of file rp_objective.cpp.

◆ computeCost() [8/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

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

Definition at line 16 of file rp_objective.cpp.

◆ computeCost() [9/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

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

Definition at line 27 of file rp_objective.cpp.

◆ computeCost() [10/19]

template<class T , class R >

double f2c::obj::CompleteTurnPathObj< T, R >::computeCost	(	const F2CPoint &	p1,
		double	ang1,
		const F2CPoint &	p2,
		double	ang2
	)

overridevirtual

Compute the cost of doing the turn between p1 with angle ang1 to p2 with angle ang2

Reimplemented from f2c::obj::RPObjective.

Definition at line 79 of file complete_turn_path_obj.h.

◆ computeCost() [11/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

Return the cost of covering a Route.

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

Parameters

r Route

Returns: Cost value

Definition at line 120 of file rp_objective.cpp.

◆ computeCost() [12/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

Return the cost of covering a swath

Parameters

s Swath

Returns: Cost value

Definition at line 100 of file rp_objective.cpp.

◆ computeCost() [13/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

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

Definition at line 74 of file rp_objective.cpp.

◆ computeCost() [14/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

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

Definition at line 32 of file rp_objective.cpp.

◆ computeCost() [15/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

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

Definition at line 41 of file rp_objective.cpp.

◆ computeCost() [16/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

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

Definition at line 36 of file rp_objective.cpp.

◆ computeCost() [17/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

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

Definition at line 81 of file rp_objective.cpp.

◆ computeCost() [18/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

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

Definition at line 108 of file rp_objective.cpp.

◆ computeCost() [19/19]

template<class T , class R = PPObjective>

double f2c::obj::RPObjective::computeCost

Return the cost of covering all the points of ps

Parameters

ps	vector of points

Returns: Cost value

Definition at line 55 of file rp_objective.cpp.

◆ setRobot()

template<class T , class R >

void f2c::obj::CompleteTurnPathObj< T, R >::setRobot ( const F2CRobot & robot )

Definition at line 68 of file complete_turn_path_obj.h.

◆ setTurnPlanner()

template<class T , class R >

void f2c::obj::CompleteTurnPathObj< T, R >::setTurnPlanner ( const T & turner )

Definition at line 73 of file complete_turn_path_obj.h.

Member Data Documentation

◆ pp_objective

template<class T , class R = PPObjective>

R f2c::obj::CompleteTurnPathObj< T, R >::pp_objective

private

Definition at line 53 of file complete_turn_path_obj.h.

◆ robot

template<class T , class R = PPObjective>

F2CRobot f2c::obj::CompleteTurnPathObj< T, R >::robot

private

Definition at line 52 of file complete_turn_path_obj.h.

◆ turn_planner

template<class T , class R = PPObjective>

T f2c::obj::CompleteTurnPathObj< T, R >::turn_planner

private

Planner that derives from f2c::pp::TurningBase.

Definition at line 51 of file complete_turn_path_obj.h.

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

complete_turn_path_obj.h

Public Member Functions

Private Attributes

Detailed Description

template<class T, class R = PPObjective> class f2c::obj::CompleteTurnPathObj< T, R >

Constructor & Destructor Documentation

◆ CompleteTurnPathObj() [1/2]

◆ CompleteTurnPathObj() [2/2]

Member Function Documentation

◆ computeCost() [1/19]

◆ computeCost() [2/19]

◆ computeCost() [3/19]

◆ computeCost() [4/19]

◆ computeCost() [5/19]

◆ computeCost() [6/19]

◆ computeCost() [7/19]

◆ computeCost() [8/19]

◆ computeCost() [9/19]

◆ computeCost() [10/19]

◆ computeCost() [11/19]

◆ computeCost() [12/19]

◆ computeCost() [13/19]

◆ computeCost() [14/19]

◆ computeCost() [15/19]

◆ computeCost() [16/19]

◆ computeCost() [17/19]

◆ computeCost() [18/19]

◆ computeCost() [19/19]

◆ setRobot()

◆ setTurnPlanner()

Member Data Documentation

◆ pp_objective

◆ robot

◆ turn_planner

template<class T, class R = PPObjective>
class f2c::obj::CompleteTurnPathObj< T, R >