MidpointObstacleResidual2D Struct Reference

#include <armarx/navigation/algorithms/spfa/smoothing/residuals.h>

Public Member Functions
	MidpointObstacleResidual2D (const Costmap2DWrapper &wrapper, double weight, double max_dist, double clearance)
template<typename T>
bool	operator() (const T *const c_i, const T *const c_ip1, T *residual) const

Public Attributes
double	clearance_
double	max_dist_
double	w_
const Costmap2DWrapper &	wrapper_

Detailed Description

Definition at line 137 of file residuals.h.

Constructor & Destructor Documentation

MidpointObstacleResidual2D()

MidpointObstacleResidual2D ( const Costmap2DWrapper & wrapper, double weight, double max_dist, double clearance )

inline

Definition at line 139 of file residuals.h.

Member Function Documentation

operator()()

template<typename T>

bool operator() ( const T *const c_i, const T *const c_ip1, T * residual ) const

inline

Definition at line 151 of file residuals.h.

Member Data Documentation

clearance_

double clearance_

Definition at line 190 of file residuals.h.

max_dist_

double max_dist_

Definition at line 189 of file residuals.h.

w_

double w_

Definition at line 188 of file residuals.h.

wrapper_

const Costmap2DWrapper& wrapper_

Definition at line 187 of file residuals.h.

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

• armarx/navigation/algorithms/spfa/smoothing/residuals.h