A cost that penalizes via a 3D table lookup of a single index. More...
#include <Tabular.h>
Public Member Functions | |
| Tabular3DObjective (const Array3D< Real > &differentialCosts, const Array3D< Real > &terminalCosts, const Math3D::Vector3 &bmin, const Math3D::Vector3 &bmax, int dim0=0, int dim1=1, int dim2=2) | |
| virtual const char * | TypeString () |
| Subclasses: return an identifier for this goal type. | |
| virtual std::string | Description () |
| Subclasses: return a string for printing (optional) | |
| virtual bool | PathInvariant () const |
| Subclasses: planners may exploit path-invariant costs for faster performance. | |
| virtual Real | IncrementalCost (const Interpolator *path) |
| virtual Real | TerminalCost (const Vector &qend) |
 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 | |
| Meshing::VolumeGridTemplate< Real > | differentialCosts |
| Meshing::VolumeGridTemplate< Real > | terminalCosts |
| int | dim0 |
| int | dim1 |
| int | dim2 |
Detailed Description
A cost that penalizes via a 3D table lookup of a single index.
The cost tables are assumed to be on a grid over the domain [bmin,bmax]. Values past the interval are clamped to the range.
For the incremental cost, the state x(index0) is looked up in differentialCosts, using linear interpolation. This is integrated over the length of the interpolator.
For the incremental cost, the state x(index) is looked up in terminalCosts, using linear interpolation.
Either table can be empty, in which case no cost is assessed.
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:
- Tabular.h
- Tabular.cpp
