TMetric< METRIC, MoreIsBetter > Class Template Reference

#include <TrajectoryMetric.h>

Static Public Member Functions
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 constexpr double	ComparisonTolerance = 1e-6

Member Function Documentation

compare() [1/2]

template<class METRIC , bool MoreIsBetter = false>

static int TMetric< METRIC, MoreIsBetter >::compare ( const ompl::control::PathControl &  a, const ompl::control::PathControl &  b, double  dt = 0.1  )

inlinestatic

Compares two trajectories by evaluating this metric on them.

Parameters

a	Trajectory.
b	Trajectory.

Returns

1 if a is better than b, 0 if a and b have the same value, -1 if b is better than a

compare() [2/2]

template<class METRIC , bool MoreIsBetter = false>

static int TMetric< METRIC, MoreIsBetter >::compare ( const ompl::geometric::PathGeometric &  a, const ompl::geometric::PathGeometric &  b, double  dt = 0.1  )

inlinestatic

Compares two trajectories by evaluating this metric on them.

Parameters

a	Trajectory.
b	Trajectory.

Returns

1 if a is better than b, 0 if a and b have the same value, -1 if b is better than a

evaluate() [1/2]

template<class METRIC , bool MoreIsBetter = false>

static double TMetric< METRIC, MoreIsBetter >::evaluate ( const ompl::control::PathControl &  trajectory, double  dt = 0.1  )

inlinestatic

evaluate() [2/2]

template<class METRIC , bool MoreIsBetter = false>

static double TMetric< METRIC, MoreIsBetter >::evaluate ( const ompl::geometric::PathGeometric &  trajectory, double  dt = 0.1  )

inlinestatic

Member Data Documentation

ComparisonTolerance

template<class METRIC , bool MoreIsBetter = false>

constexpr double TMetric< METRIC, MoreIsBetter >::ComparisonTolerance = 1e-6

staticconstexpr

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

• src/metrics/TrajectoryMetric.h