BoundedTrackingResidual Struct Reference

Bounded tracking residual. More...

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

Public Member Functions
	BoundedTrackingResidual (double xr, double yr, double deadzone, double max_deviation, double w_in_bounds, double w_hard)
template<typename T>
bool	operator() (const T *const c_i, T *residual) const

Public Attributes
double	deadzone_
double	max_deviation_
double	w_hard_
double	w_in_bounds_
double	xr_
double	yr_

Detailed Description

Bounded tracking residual.

• Deviation <= deadzone: 0 cost.
• deadzone < deviation <= max_deviation: quadratic growth.
• deviation > max_deviation: very steep quadratic growth (hard limit).

Constructor & Destructor Documentation

BoundedTrackingResidual()

BoundedTrackingResidual ( double xr, double yr, double deadzone, double max_deviation, double w_in_bounds, double w_hard )

inline

Member Function Documentation

operator()()

template<typename T>

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

inline

Member Data Documentation

deadzone_

double deadzone_

max_deviation_

double max_deviation_

w_hard_

double w_hard_

w_in_bounds_

double w_in_bounds_

xr_

double xr_

yr_

double yr_

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

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