#include <alignment_cost_function.h>

Inheritance diagram for base_local_planner::AlignmentCostFunction:

Public Member Functions
	AlignmentCostFunction ()

double	getDesiredOrientation ()

bool	prepare ()

double	scoreTrajectory (Trajectory &traj)

void	setDesiredOrientation (double theta)

virtual	~AlignmentCostFunction ()

Public Member Functions inherited from base_local_planner::TrajectoryCostFunction
double	getScale ()

void	setScale (double scale)

virtual	~TrajectoryCostFunction ()

Private Attributes
double	theta_desired_
	Desired orientation. More...

Additional Inherited Members
Protected Member Functions inherited from base_local_planner::TrajectoryCostFunction
	TrajectoryCostFunction (double scale=1.0)

Detailed Description

Definition at line 10 of file alignment_cost_function.h.

Constructor & Destructor Documentation

◆ AlignmentCostFunction()

base_local_planner::AlignmentCostFunction::AlignmentCostFunction ( )

Definition at line 7 of file alignment_cost_function.cpp.

◆ ~AlignmentCostFunction()

base_local_planner::AlignmentCostFunction::~AlignmentCostFunction ( )

virtual

Definition at line 13 of file alignment_cost_function.cpp.

Member Function Documentation

◆ getDesiredOrientation()

double base_local_planner::AlignmentCostFunction::getDesiredOrientation ( )

inline

Definition at line 23 of file alignment_cost_function.h.

◆ prepare()

bool base_local_planner::AlignmentCostFunction::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 20 of file alignment_cost_function.h.

◆ scoreTrajectory()

double base_local_planner::AlignmentCostFunction::scoreTrajectory ( Trajectory & traj )

virtual

return a score for trajectory traj

Check trajectory length

Keep error between -pi and pi

Implements base_local_planner::TrajectoryCostFunction.

Definition at line 18 of file alignment_cost_function.cpp.

◆ setDesiredOrientation()

void base_local_planner::AlignmentCostFunction::setDesiredOrientation ( double theta )

inline

Definition at line 22 of file alignment_cost_function.h.

Member Data Documentation

◆ theta_desired_

double base_local_planner::AlignmentCostFunction::theta_desired_

private

Desired orientation.

Definition at line 28 of file alignment_cost_function.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members