MaxCurvatureMetric Class Reference

#include <MaxCurvatureMetric.h>

Inheritance diagram for MaxCurvatureMetric:

Collaboration diagram for MaxCurvatureMetric:

Static Public Member Functions
static double	evMetric (std::vector< Point > path, bool visualize=false)
	Computes the maximum curvature of the given trajectory. More...
static double	evaluateMetric (const ompl::geometric::PathGeometric &trajectory, double, bool visualize=false)
	Computes the maximum curvature of the given trajectory. More...
static double	evaluateMetric (const ompl::control::PathControl &trajectory, double, bool visualize=false)
	Computes the maximum curvature of the given trajectory. More...
static double	evaluateMetric (std::vector< double > traj_x, std::vector< double > traj_y)
Static Public Member Functions inherited from TMetric< MaxCurvatureMetric >
static double	evaluate (const ompl::geometric::PathGeometric &trajectory, double dt=0.1)
static double	evaluate (const ompl::control::PathControl &trajectory, double dt=0.1)
static int	compare (const ompl::geometric::PathGeometric &a, const ompl::geometric::PathGeometric &b, double dt=0.1)
	Compares two trajectories by evaluating this metric on them. More...
static int	compare (const ompl::control::PathControl &a, const ompl::control::PathControl &b, double dt=0.1)
	Compares two trajectories by evaluating this metric on them. More...

Static Public Attributes
static const bool	MoreIsBetter = false
Static Public Attributes inherited from TMetric< MaxCurvatureMetric >
static constexpr double	ComparisonTolerance

Member Function Documentation

evaluateMetric() [1/3]

static double MaxCurvatureMetric::evaluateMetric ( const ompl::control::PathControl &  trajectory, double  , bool  visualize = false  )

inlinestatic

Computes the maximum curvature of the given trajectory.

Parameters

trajectory

The trajectory to evaluate.

Returns

Maximum curvature.

evaluateMetric() [2/3]

static double MaxCurvatureMetric::evaluateMetric ( const ompl::geometric::PathGeometric &  trajectory, double  , bool  visualize = false  )

inlinestatic

Computes the maximum curvature of the given trajectory.

Parameters

trajectory

The trajectory to evaluate.

Returns

Maximum curvature.

evaluateMetric() [3/3]

static double MaxCurvatureMetric::evaluateMetric ( std::vector< double >  traj_x, std::vector< double >  traj_y  )

inlinestatic

evMetric()

static double MaxCurvatureMetric::evMetric ( std::vector< Point >  path, bool  visualize = false  )

inlinestatic

Computes the maximum curvature of the given trajectory.

Parameters

trajectory

The trajectory to evaluate.

Returns

Maximum curvature.

Member Data Documentation

MoreIsBetter

const bool MaxCurvatureMetric::MoreIsBetter = false

static

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

• src/metrics/MaxCurvatureMetric.h