Base class for objective functions of route planners. More...

#include <rp_objective.h>

Inheritance diagram for f2c::obj::RPObjective:

[legend]

Public Member Functions
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)

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

Detailed Description

Base class for objective functions of route planners.

Definition at line 18 of file rp_objective.h.

Member Function Documentation

◆ computeCost() [1/18]

double f2c::obj::RPObjective::computeCost ( const F2CMultiPoint & ps )

virtual

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() [2/18]

double f2c::obj::RPObjective::computeCost	(	const F2CMultiPoint &	ps,
		const F2CSwath &	s
	)

virtual

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() [3/18]

double f2c::obj::RPObjective::computeCost	(	const F2CMultiPoint &	ps,
		const F2CSwaths &	s
	)

virtual

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() [4/18]

double f2c::obj::RPObjective::computeCost	(	const F2CPoint &	p,
		const F2CSwath &	s
	)

virtual

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() [5/18]

double f2c::obj::RPObjective::computeCost	(	const F2CPoint &	p,
		double	ang,
		const F2CSwath &	s
	)

virtual

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() [6/18]

double f2c::obj::RPObjective::computeCost	(	const F2CPoint &	p1,
		const F2CPoint &	p2
	)

virtual

Return the cost of going from point p1 to point p2

Parameters

p1	Start point
p2	End point

Returns: Cost value

Reimplemented in f2c::obj::DirectDistPathObj.

Definition at line 11 of file rp_objective.cpp.

◆ computeCost() [7/18]

double f2c::obj::RPObjective::computeCost	(	const F2CPoint &	p1,
		const F2CPoint &	p2,
		double	ang2
	)

virtual

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() [8/18]

double f2c::obj::RPObjective::computeCost	(	const F2CPoint &	p1,
		double	ang1,
		const F2CPoint &	p2
	)

virtual

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() [9/18]

double f2c::obj::RPObjective::computeCost	(	const F2CPoint &	p1,
		double	ang1,
		const F2CPoint &	p2,
		double	ang2
	)

virtual

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

Reimplemented in f2c::obj::CompleteTurnPathObj< T, R >.

Definition at line 27 of file rp_objective.cpp.

◆ computeCost() [10/18]

double f2c::obj::RPObjective::computeCost ( const F2CRoute & r )

virtual

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() [11/18]

double f2c::obj::RPObjective::computeCost ( const F2CSwath & s )

virtual

Return the cost of covering a swath

Parameters

s Swath

Returns: Cost value

Definition at line 100 of file rp_objective.cpp.

◆ computeCost() [12/18]

double f2c::obj::RPObjective::computeCost	(	const F2CSwath &	s,
		const F2CMultiPoint &	ps
	)

virtual

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() [13/18]

double f2c::obj::RPObjective::computeCost	(	const F2CSwath &	s,
		const F2CPoint &	p
	)

virtual

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() [14/18]

double f2c::obj::RPObjective::computeCost	(	const F2CSwath &	s,
		const F2CPoint &	p,
		double	ang
	)

virtual

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() [15/18]

double f2c::obj::RPObjective::computeCost	(	const F2CSwath &	s1,
		const F2CSwath &	s2
	)

virtual

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() [16/18]

double f2c::obj::RPObjective::computeCost	(	const F2CSwaths &	s,
		const F2CMultiPoint &	ps
	)

virtual

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() [17/18]

double f2c::obj::RPObjective::computeCost ( const F2CSwaths & swaths )

virtual

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() [18/18]

double f2c::obj::RPObjective::computeCost ( const std::vector< F2CPoint > & ps )

virtual

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.

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

Public Member Functions

Detailed Description

Member Function Documentation

◆ computeCost() [1/18]

◆ computeCost() [2/18]

◆ computeCost() [3/18]

◆ computeCost() [4/18]

◆ computeCost() [5/18]

◆ computeCost() [6/18]

◆ computeCost() [7/18]

◆ computeCost() [8/18]

◆ computeCost() [9/18]

◆ computeCost() [10/18]

◆ computeCost() [11/18]

◆ computeCost() [12/18]

◆ computeCost() [13/18]

◆ computeCost() [14/18]

◆ computeCost() [15/18]

◆ computeCost() [16/18]

◆ computeCost() [17/18]

◆ computeCost() [18/18]