Klamp't  0.9.0
Public Member Functions | Public Attributes | List of all members
Klampt::IKObjective Class Reference

A goal for an IK solution (including possibly rotation) More...

#include <PlannerObjective.h>

Inheritance diagram for Klampt::IKObjective:

Public Member Functions

 IKObjective (RobotModel *robot)
virtual const char * TypeString ()
 Subclasses: return an identifier for this goal type.
virtual Real TerminalCost (Real tend, const Vector &qend, const Vector &dqend)
virtual Real PathCost (const ParabolicRamp::DynamicPath &path, Real tstart=0)
virtual Real Delta (PlannerObjectiveBase *priorGoal)
virtual bool TerminalTimeInvariant () const
virtual bool DifferentialTimeInvariant () const
 Subclasses: planners may exploit time invariant costs for faster performance.
virtual bool PathInvariant () const
 Subclasses: planners may exploit path-invariant costs for faster performance.
- Public Member Functions inherited from Klampt::PlannerObjectiveBase
virtual string Description ()
 Subclasses: return a string for printing (optional)
virtual Real DifferentialCost (Real t, const Vector &q, const Vector &dq)
virtual Real IncrementalCost (Real t, const ParabolicRamp::ParabolicRampND &ramp)
virtual Real IncrementalCost (Real t, const ParabolicRamp::DynamicPath &path)
virtual bool Read (File &file)
 Subclasses: read and write to binary file (optional, not implemented yet)
virtual bool Write (File &file)

Public Attributes

IKGoal ikGoal
Real posCoeff
Real oriCoeff

Detailed Description

A goal for an IK solution (including possibly rotation)

Member Function Documentation

virtual Real Klampt::IKObjective::Delta ( PlannerObjectiveBase priorGoal)

Subclasses: a similarity metric in for the amount of change between this objective and a prior goal. Results >= 0.

Reimplemented from Klampt::PlannerObjectiveBase.

virtual Real Klampt::IKObjective::PathCost ( const ParabolicRamp::DynamicPath path,
Real  tstart = 0 

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

Reimplemented from Klampt::PlannerObjectiveBase.

References Klampt::PlannerObjectiveBase::Delta(), ParabolicRamp::DynamicPath::ramps, and Klampt::PlannerObjectiveBase::TerminalCost().

virtual Real Klampt::IKObjective::TerminalCost ( Real  tend,
const Vector &  qend,
const Vector &  dqend 

Subclasses: return the cost of a terminal state (qend,dqend) reached at time tend

Reimplemented from Klampt::PlannerObjectiveBase.

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