An objective that merges contributions from multiple other objective functions. More...
#include <Objective.h>
Inheritance diagram for CompositeObjective:
Public Member Functions | |
| void | Add (const std::shared_ptr< ObjectiveFunctionalBase > &obj, Real weight=1.0) |
| Adds a new component. Note: this takes ownership of the pointer. | |
| 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 | TerminalCost (const Vector &qend) |
| virtual Real | IncrementalCost (const Interpolator *path) |
| virtual bool | PathInvariant () const |
| Subclasses: planners may exploit path-invariant costs for faster performance. | |
 Public Member Functions inherited from ObjectiveFunctionalBase | |
| 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 | |
| Real | norm |
| std::vector< std::shared_ptr< ObjectiveFunctionalBase > > | components |
| std::vector< Real > | weights |
Detailed Description
An objective that merges contributions from multiple other objective functions.
Member Function Documentation
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virtual |
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 from ObjectiveFunctionalBase.
The documentation for this class was generated from the following files:
- Objective.h
- Objective.cpp
