mpp::CostEvaluatorCostMap Class Reference

#include <mpp/algos/CostEvaluatorCostMap.h>

Inheritance diagram for mpp::CostEvaluatorCostMap:

Classes
struct	Parameters

Public Types
using	cost_gridmap_t = mrpt::containers::CDynamicGrid< double >

Public Member Functions
	CostEvaluatorCostMap ()=default
	~CostEvaluatorCostMap ()
double	operator() (const MoveEdgeSE2_TPS &edge) const override
mrpt::opengl::CSetOfObjects::Ptr	get_visualization () const override
const cost_gridmap_t	cost_gridmap () const
const Parameters &	params () const
Public Member Functions inherited from mpp::CostEvaluator
	CostEvaluator ()=default
virtual	~CostEvaluator ()

Static Public Member Functions
static CostEvaluatorCostMap::Ptr	FromStaticPointObstacles (const mrpt::maps::CPointsMap &obsPts, const Parameters &p=Parameters(), const std::optional< mrpt::math::TPose2D > &curRobotPose=std::nullopt)

Private Member Functions
double	eval_single_pose (const mrpt::math::TPose2D &p) const

Private Attributes
cost_gridmap_t	costmap_
Parameters	params_

Detailed Description

Defines higher costs to paths that pass closer to obstacles.

Member Typedef Documentation

cost_gridmap_t

using mpp::CostEvaluatorCostMap::cost_gridmap_t = mrpt::containers::CDynamicGrid<double>

Constructor & Destructor Documentation

CostEvaluatorCostMap()

mpp::CostEvaluatorCostMap::CostEvaluatorCostMap ( )

default

~CostEvaluatorCostMap()

mpp::CostEvaluatorCostMap::~CostEvaluatorCostMap

(

)

Member Function Documentation

cost_gridmap()

const cost_gridmap_t mpp::CostEvaluatorCostMap::cost_gridmap ( ) const

inline

eval_single_pose()

double mpp::CostEvaluatorCostMap::eval_single_pose ( const mrpt::math::TPose2D &  p ) const

private

FromStaticPointObstacles()

static CostEvaluatorCostMap::Ptr mpp::CostEvaluatorCostMap::FromStaticPointObstacles ( const mrpt::maps::CPointsMap &  obsPts, const Parameters &  p = Parameters(), const std::optional< mrpt::math::TPose2D > &  curRobotPose = std::nullopt  )

static

get_visualization()

mrpt::opengl::CSetOfObjects::Ptr mpp::CostEvaluatorCostMap::get_visualization ( ) const

overridevirtual

Reimplemented from mpp::CostEvaluator.

operator()()

double mpp::CostEvaluatorCostMap::operator() ( const MoveEdgeSE2_TPS &  edge ) const

overridevirtual

Evaluate cost of move-tree edge

Implements mpp::CostEvaluator.

params()

const Parameters& mpp::CostEvaluatorCostMap::params ( ) const

inline

Member Data Documentation

costmap_

cost_gridmap_t mpp::CostEvaluatorCostMap::costmap_

private

params_

Parameters mpp::CostEvaluatorCostMap::params_

private

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

• /home/docs/checkouts/readthedocs.org/user_builds/selfdriving/checkouts/latest/mrpt_path_planning/include/mpp/algos/CostEvaluatorCostMap.h