KrisLibrary
1.0.0
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A goal that measures distance to a goal configuration qgoal. More...
#include <Objective.h>
Public Member Functions | |
ConfigObjective (const Config &qgoal) | |
ConfigObjective (const Config &qgoal, const Vector &weights) | |
virtual const char * | TypeString () |
Subclasses: return an identifier for this goal type. | |
virtual Real | TerminalCost (const Vector &qend) |
virtual bool | PathInvariant () const |
Subclasses: planners may exploit path-invariant costs for faster performance. | |
Public Member Functions inherited from ObjectiveFunctionalBase | |
virtual std::string | Description () |
Subclasses: return a string for printing (optional) | |
virtual Real | IncrementalCost (const Interpolator *path) |
virtual Real | IncrementalCost (const ControlInput &u, const Interpolator *path) |
virtual Real | IncrementalCost (const KinodynamicMilestonePath &path) |
virtual Real | TerminalCost (const Config &qend) |
Subclasses: return the cost of a terminal state. | |
virtual Real | PathCost (const MilestonePath &path) |
virtual Real | PathCost (const KinodynamicMilestonePath &path) |
virtual bool | SaveParams (AnyCollection &collection) |
Subclasses: read and write parameters to collection. | |
virtual bool | LoadParams (AnyCollection &collection) |
Public Attributes | |
Vector | qgoal |
Vector | weights |
A goal that measures distance to a goal configuration qgoal.