KrisLibrary  1.0.0
Public Member Functions | Public Attributes | List of all members
ConfigObjective Class Reference

A cost that measures distance to a goal configuration qgoal. More...

#include <Objective.h>

Inheritance diagram for ConfigObjective:
ObjectiveFunctionalBase

Public Member Functions

 ConfigObjective (const Config &qgoal, CSpace *cspace=NULL)
 
 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
 
CSpacecspace
 

Detailed Description

A cost that measures distance to a goal configuration qgoal.


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