smp::cost_evaluator_base< typeparams > Class Template Reference

The abstract class that specifies the structure of the cost evalutor component. More...

#include <base.h>

Inheritance diagram for smp::cost_evaluator_base< typeparams >:

List of all members.

Public Member Functions
virtual int	ce_update_vertex_cost (vertex_t *vertex_in)=0
	Update function for vertex cost modification.
virtual int	ce_update_edge_cost (edge_t *edge_in)=0
	Update function for edge cost modification.
virtual double	evaluate_cost_trajectory (state_t *state_initial_in, trajectory_t *trajectory_in, state_t *state_final_in=0)=0
	Evaluates the cost of a trajectory.

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Detailed Description

template<class typeparams>
class smp::cost_evaluator_base< typeparams >

The abstract class that specifies the structure of the cost evalutor component.

This class implements the abstract cost evaluator class, which provides one main method that returns the cost of a trajectory starting from a given initial state a reaching a given final vertex.

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Member Function Documentation

template<class typeparams >

virtual int smp::cost_evaluator_base< typeparams >::ce_update_edge_cost

(

edge_t *

edge_in

)

[pure virtual]

Update function for edge cost modification.

This function is called by the planner whenever the cost associated with an edge is changed by the optimizing (incremental) planning algorithm.

Parameters:

edge_in

A pointer to the edge with modified cost.

Returns:

Return 1 if success, a non-positive value to indiacate error.

Implemented in smp::cost_evaluator_time< typeparams >, and smp::minimum_time_reachability< typeparams, NUM_DIMENSIONS >.

template<class typeparams >

virtual int smp::cost_evaluator_base< typeparams >::ce_update_vertex_cost

(

vertex_t *

vertex_in

)

[pure virtual]

Update function for vertex cost modification.

This function is called by the planner whenever a the cost associated with a vertex is changed by the optimizing (incremental) planning algorithm.

Parameters:

vertex_in

A pointer to the vertex with modified cost.

Returns:

Return 1 if success, a non-positive value to indiacate error.

Implemented in smp::cost_evaluator_time< typeparams >, and smp::minimum_time_reachability< typeparams, NUM_DIMENSIONS >.

template<class typeparams >

virtual double smp::cost_evaluator_base< typeparams >::evaluate_cost_trajectory	(	state_t *	state_initial_in,
		trajectory_t *	trajectory_in,
		state_t *	state_final_in = 0
	)		[pure virtual]

Evaluates the cost of a trajectory.

This function returns the cost of a given trajectory that starts from state_initial_in and reaches state_final_in. Sometimes the final state is embedded in the trajectory itself, in which case state_final_in argument can be set to NULL.

Parameters:

state_initial_in	Initial state that the trajectory starts from
trajectory_in	Trajectory
state_final_in	Final state that the trajectory reaches

Returns:

Returns 1 for success, and a non-positive number to indicate error.

Implemented in smp::cost_evaluator_time< typeparams >, and smp::minimum_time_reachability< typeparams, NUM_DIMENSIONS >.

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

• src/smp/components/cost_evaluators/base.h