Klampt::PlannerObjectiveBase Class Reference

A base class for objective functionals in time/config/velocity space. More...

#include <PlannerObjective.h>

Inheritance diagram for Klampt::PlannerObjectiveBase:

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

Detailed Description

A base class for objective functionals in time/config/velocity space.

Member Function Documentation

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

inlinevirtual

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

Reimplemented in Klampt::CartesianTrackingObjective, Klampt::IKObjective, Klampt::CartesianObjective, Klampt::CompositeObjective, Klampt::VelocityObjective, Klampt::ConfigObjective, Klampt::TerminalTimeObjective, and Klampt::TimeObjective.

Referenced by Klampt::TimeObjective::DifferentialCost(), Klampt::ConfigObjective::PathCost(), Klampt::VelocityObjective::PathCost(), Klampt::CartesianObjective::PathCost(), Klampt::IKObjective::PathCost(), Klampt::TerminalTimeObjective::TypeString(), Klampt::CompositeObjective::TypeString(), and Klampt::CartesianTrackingObjective::TypeString().

virtual Real Klampt::PlannerObjectiveBase::DifferentialCost ( Real  t, const Vector &  q, const Vector &  dq  )

inlinevirtual

Subclasses: return the differential cost of passing through state (q,dq) at time t

Reimplemented in Klampt::CartesianTrackingObjective, Klampt::CompositeObjective, and Klampt::TimeObjective.

Referenced by Klampt::CompositeObjective::TypeString(), and Klampt::CartesianTrackingObjective::TypeString().

virtual Real Klampt::PlannerObjectiveBase::IncrementalCost ( Real  t, const ParabolicRamp::ParabolicRampND &  ramp  )

inlinevirtual

Subclasses: return the incremental cost of undertaking the segment 'ramp' starting at time t. This should be equal to the integral of the differential cost, or at least a good approximation

Reimplemented in Klampt::CartesianTrackingObjective, Klampt::CompositeObjective, and Klampt::TimeObjective.

References PathCost().

Referenced by Klampt::TimeObjective::DifferentialCost(), Klampt::CompositeObjective::TypeString(), and Klampt::CartesianTrackingObjective::TypeString().

virtual Real Klampt::PlannerObjectiveBase::PathCost ( const ParabolicRamp::DynamicPath &  path, Real  tstart = 0  )

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

Reimplemented in Klampt::CartesianTrackingObjective, Klampt::IKObjective, Klampt::CartesianObjective, Klampt::CompositeObjective, Klampt::VelocityObjective, Klampt::ConfigObjective, Klampt::TerminalTimeObjective, and Klampt::TimeObjective.

Referenced by IncrementalCost(), Klampt::TimeObjective::TypeString(), Klampt::TerminalTimeObjective::TypeString(), Klampt::CompositeObjective::TypeString(), and Klampt::CartesianTrackingObjective::TypeString().

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

inlinevirtual

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

Reimplemented in Klampt::CartesianTrackingObjective, Klampt::IKObjective, Klampt::CartesianObjective, Klampt::CompositeObjective, Klampt::VelocityObjective, Klampt::ConfigObjective, and Klampt::TerminalTimeObjective.

Referenced by Klampt::CartesianObjective::PathCost(), Klampt::IKObjective::PathCost(), Klampt::TerminalTimeObjective::TypeString(), Klampt::CompositeObjective::TypeString(), Klampt::CartesianObjective::TypeString(), Klampt::IKObjective::TypeString(), and Klampt::CartesianTrackingObjective::TypeString().

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

• PlannerObjective.h