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).

Definition at line 265 of file residuals.h.

Constructor & Destructor Documentation

◆ BoundedTrackingResidual()

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

inline

Definition at line 267 of file residuals.h.

Member Function Documentation

◆ operator()()

template<typename T>

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

inline

Definition at line 283 of file residuals.h.

Member Data Documentation

◆ deadzone_

double deadzone_

Definition at line 307 of file residuals.h.

◆ max_deviation_

double max_deviation_

Definition at line 308 of file residuals.h.

◆ w_hard_

double w_hard_

Definition at line 310 of file residuals.h.

◆ w_in_bounds_

double w_in_bounds_

Definition at line 309 of file residuals.h.

◆ xr_

double xr_

Definition at line 306 of file residuals.h.

◆ yr_

double yr_