NormalizedCurvatureMetric Class Reference

#include <NormalizedCurvatureMetric.h>

Inheritance diagram for NormalizedCurvatureMetric:

Collaboration diagram for NormalizedCurvatureMetric:

Static Public Member Functions
static double	evMetric (const std::vector< Point > &path, bool visualize=false)
static double	evaluateMetric (const ompl::geometric::PathGeometric &trajectory, double, bool visualize=false)
static double	evaluateMetric (const ompl::control::PathControl &trajectory, double, bool visualize=false)
Static Public Member Functions inherited from TMetric< NormalizedCurvatureMetric >
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 double	max_curvature = std::numeric_limits<double>::max()
	Computes a normalized curvature metric of the given trajectory. More...
static const bool	MoreIsBetter = false
Static Public Attributes inherited from TMetric< NormalizedCurvatureMetric >
static constexpr double	ComparisonTolerance

Member Function Documentation

evaluateMetric() [1/2]

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

inlinestatic

evaluateMetric() [2/2]

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

inlinestatic

evMetric()

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

inlinestatic

Member Data Documentation

max_curvature

double NormalizedCurvatureMetric::max_curvature = std::numeric_limits<double>::max()

inlinestatic

Computes a normalized curvature metric of the given trajectory.

This is the sum over segment_curvature * segment_length.

Parameters

trajectory	The trajectory to evaluate.
visualize

Returns

Normalized curvature.

MoreIsBetter

const bool NormalizedCurvatureMetric::MoreIsBetter = false

static

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

• src/metrics/NormalizedCurvatureMetric.h