A base class for objective functionals of the form J[x,u] = sum_0^N-1 L(xi,ui) dt + Phi(xN) More...
#include <Objective.h>
Public Member Functions | |
| virtual const char * | TypeString () |
| Subclasses: return an identifier for this goal type. | |
| 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 bool | PathInvariant () const |
| Subclasses: planners may exploit path-invariant costs for faster performance. | |
| 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) |
Detailed Description
A base class for objective functionals of the form J[x,u] = sum_0^N-1 L(xi,ui) dt + Phi(xN)
where x0,...,xN is the milestone trajectory and u0,...,uN-1 is the control trajectory.
Member Function Documentation
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inlinevirtual |
Subclasses: return the incremental cost of undertaking the given path. This should be equal to the integral of the differential cost, or at least a good approximation
Reimplemented in CompositeObjective, TimeObjective, and LengthObjective.
Referenced by ErrorAccumulator::ErrorAccumulator(), TimeObjective::TypeString(), and CompositeObjective::TypeString().
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virtual |
Optional: return the cost of a candidate path starting at time tstart. This should be equal to the sum of the increment costs + the terminal cost
Referenced by PathInvariant().
The documentation for this class was generated from the following files:
- Objective.h
- Objective.cpp
