PathEvaluation Struct Reference

#include <PathEvaluation.hpp>

Public Member Functions
	PathEvaluation ()=delete

Static Public Member Functions
static void	computeCusps (PathStatistics &stats, const std::vector< Point > path)
	Identifies cusps in a solution path by comparing the yaw angles between every second state. More...
static bool	evaluate (PathStatistics &stats, const ompl::control::PathControl &path, const AbstractPlanner *planner)
static bool	evaluate (PathStatistics &stats, const ompl::geometric::PathGeometric &path, const AbstractPlanner *planner)
template<class PLANNER >
static bool	evaluate (PLANNER &planner, nlohmann::json &info)
template<class PLANNER >
static bool	evaluate (nlohmann::json &info)
template<class PLANNER >
static bool	evaluateSmoothers (nlohmann::json &info)
template<class PLANNER >
static bool	evaluateAnytime (nlohmann::json &info)
	Evaluates an anytime path planner by running the planner for each of the provided time intervals (in seconds). More...

Constructor & Destructor Documentation

PathEvaluation()

PathEvaluation::PathEvaluation ( )

delete

Member Function Documentation

computeCusps()

static void PathEvaluation::computeCusps ( PathStatistics &  stats, const std::vector< Point >  path  )

inlinestatic

Identifies cusps in a solution path by comparing the yaw angles between every second state.

evaluate() [1/4]

template<class PLANNER >

static bool PathEvaluation::evaluate ( nlohmann::json &  info )

inlinestatic

evaluate() [2/4]

static bool PathEvaluation::evaluate ( PathStatistics &  stats, const ompl::control::PathControl &  path, const AbstractPlanner *  planner  )

inlinestatic

evaluate() [3/4]

static bool PathEvaluation::evaluate ( PathStatistics &  stats, const ompl::geometric::PathGeometric &  path, const AbstractPlanner *  planner  )

inlinestatic

evaluate() [4/4]

template<class PLANNER >

static bool PathEvaluation::evaluate ( PLANNER &  planner, nlohmann::json &  info  )

inlinestatic

evaluateAnytime()

template<class PLANNER >

static bool PathEvaluation::evaluateAnytime ( nlohmann::json &  info )

inlinestatic

Evaluates an anytime path planner by running the planner for each of the provided time intervals (in seconds).

This method populates the "intermediary_solutions" field of the JSON object for the given planner.

evaluateSmoothers()

template<class PLANNER >

static bool PathEvaluation::evaluateSmoothers ( nlohmann::json &  info )

inlinestatic

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

• src/utils/PathEvaluation.hpp