#include <mpp/algos/CostEvaluatorPreferredWaypoint.h>

Inheritance diagram for mpp::CostEvaluatorPreferredWaypoint:

Classes
struct	Parameters

Public Member Functions
	CostEvaluatorPreferredWaypoint ()=default

	~CostEvaluatorPreferredWaypoint ()

void	setPreferredWaypoints (const std::vector< mrpt::math::TPoint2D > &pts)

double	operator() (const MoveEdgeSE2_TPS &edge) const override

mrpt::opengl::CSetOfObjects::Ptr	get_visualization () const override

const Parameters &	params () const

Public Member Functions inherited from mpp::CostEvaluator
	CostEvaluator ()=default

virtual	~CostEvaluator ()

Public Attributes
Parameters	params_

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

Private Attributes
mrpt::maps::CSimplePointsMap	waypoints_

Detailed Description

Defines lower (negative) costs to paths that pass closer to one or more "preferred waypoints" defined by 2D coordinates (x,y)

Constructor & Destructor Documentation

◆ CostEvaluatorPreferredWaypoint()

mpp::CostEvaluatorPreferredWaypoint::CostEvaluatorPreferredWaypoint ( )

default

◆ ~CostEvaluatorPreferredWaypoint()

mpp::CostEvaluatorPreferredWaypoint::~CostEvaluatorPreferredWaypoint ( )

Member Function Documentation

◆ eval_single_pose()

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

private

◆ get_visualization()

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

overridevirtual

Reimplemented from mpp::CostEvaluator.

◆ operator()()

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

overridevirtual

Evaluate cost of move-tree edge

Implements mpp::CostEvaluator.

◆ params()

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

inline

◆ setPreferredWaypoints()

void mpp::CostEvaluatorPreferredWaypoint::setPreferredWaypoints ( const std::vector< mrpt::math::TPoint2D > & pts )

The preferred waypoints must be defined by means of this method.

Member Data Documentation

◆ params_

Parameters mpp::CostEvaluatorPreferredWaypoint::params_

Method parameters. Can be freely modified at any time after construction.

◆ waypoints_

mrpt::maps::CSimplePointsMap mpp::CostEvaluatorPreferredWaypoint::waypoints_