base_local_planner::CmdVelCostFunction Class Reference

#include <cmd_vel_cost_function.h>

Inheritance diagram for base_local_planner::CmdVelCostFunction:

Public Member Functions
	CmdVelCostFunction ()
bool	prepare ()
double	scoreTrajectory (Trajectory &traj)
void	setCoefficients (double px, double nx, double py, double ny, double ptheta, double ntheta)
virtual	~CmdVelCostFunction ()
Public Member Functions inherited from base_local_planner::TrajectoryCostFunction
double	getScale ()
void	setScale (double scale)
virtual	~TrajectoryCostFunction ()

Private Attributes
double	ntheta_
double	nx_
double	ny_
double	ptheta_
double	px_
	Cost function coefficients. More...
double	py_

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 cmd_vel_cost_function.h.

Constructor & Destructor Documentation

CmdVelCostFunction()

base_local_planner::CmdVelCostFunction::CmdVelCostFunction

(

)

Definition at line 5 of file cmd_vel_cost_function.cpp.

~CmdVelCostFunction()

base_local_planner::CmdVelCostFunction::~CmdVelCostFunction ( )

virtual

Definition at line 16 of file cmd_vel_cost_function.cpp.

Member Function Documentation

prepare()

bool base_local_planner::CmdVelCostFunction::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 cmd_vel_cost_function.h.

scoreTrajectory()

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

virtual

return a score for trajectory traj

Implements base_local_planner::TrajectoryCostFunction.

Definition at line 21 of file cmd_vel_cost_function.cpp.

setCoefficients()

void base_local_planner::CmdVelCostFunction::setCoefficients ( double  px, double  nx, double  py, double  ny, double  ptheta, double  ntheta  )

inline

Sets coefficients of the cost function

Parameters

px	Positive x direction
nx	Negative x direction
py	Positive y direction
ny	Negative y direction
ptheta	Positive theta direction
ntheta	Negative theta direction

Definition at line 29 of file cmd_vel_cost_function.h.

Member Data Documentation

ntheta_

double base_local_planner::CmdVelCostFunction::ntheta_

private

Definition at line 42 of file cmd_vel_cost_function.h.

nx_

double base_local_planner::CmdVelCostFunction::nx_

private

Definition at line 42 of file cmd_vel_cost_function.h.

ny_

double base_local_planner::CmdVelCostFunction::ny_

private

Definition at line 42 of file cmd_vel_cost_function.h.

ptheta_

double base_local_planner::CmdVelCostFunction::ptheta_

private

Definition at line 42 of file cmd_vel_cost_function.h.

px_

double base_local_planner::CmdVelCostFunction::px_

private

Cost function coefficients.

Definition at line 42 of file cmd_vel_cost_function.h.

py_

double base_local_planner::CmdVelCostFunction::py_

private

Definition at line 42 of file cmd_vel_cost_function.h.

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

• cmd_vel_cost_function.h
• cmd_vel_cost_function.cpp