Rcs::OMCollisionCost Class Reference

#include <OMCollisionCost.h>

Inheritance diagram for Rcs::OMCollisionCost:

Collaboration diagram for Rcs::OMCollisionCost:

Public Member Functions
	OMCollisionCost (RcsCollisionMdl *collisionMdl, double maxCollCost=1e3)
virtual	~OMCollisionCost ()
virtual void	computeObservation (double *state, double *velocity, const MatNd *currentAction, double dt) const
virtual void	getLimits (double *minState, double *maxState, double *maxVelocity) const
virtual unsigned int	getStateDim () const
virtual unsigned int	getVelocityDim () const
std::vector< std::string >	getStateNames () const override
Public Member Functions inherited from Rcs::ObservationModel
virtual	~ObservationModel ()
MatNd *	computeObservation (const MatNd *currentAction, double dt) const
void	computeObservation (MatNd *observation, const MatNd *currentAction, double dt) const
virtual void	reset ()
virtual std::vector< std::string >	getVelocityNames () const
virtual void	getMinMax (double *min, double *max) const final
virtual unsigned int	getDim () const final
virtual std::vector< std::string >	getNames () const final
template<typename OM >
OM *	findModel ()
template<typename OM >
Offsets	findOffsets ()
virtual std::vector< ObservationModel * >	getNested () const
Public Member Functions inherited from Rcs::BoxSpaceProvider
	BoxSpaceProvider ()
virtual	~BoxSpaceProvider ()
	BoxSpaceProvider (const BoxSpaceProvider &)=delete
BoxSpaceProvider &	operator= (const BoxSpaceProvider &)=delete
	BoxSpaceProvider (BoxSpaceProvider &&)=delete
BoxSpaceProvider &	operator= (BoxSpaceProvider &&)=delete
const BoxSpace *	getSpace () const

Private Attributes
RcsCollisionMdl *	collisionMdl
double	maxCollCost

Detailed Description

Definition at line 40 of file OMCollisionCost.h.

Constructor & Destructor Documentation

OMCollisionCost()

Rcs::OMCollisionCost::OMCollisionCost ( RcsCollisionMdl *  collisionMdl, double  maxCollCost = 1e3  )

explicit

Definition at line 46 of file OMCollisionCost.cpp.

~OMCollisionCost()

Rcs::OMCollisionCost::~OMCollisionCost ( )

virtual

Definition at line 56 of file OMCollisionCost.cpp.

Member Function Documentation

computeObservation()

void Rcs::OMCollisionCost::computeObservation ( double *  state, double *  velocity, const MatNd *  currentAction, double  dt  ) const

virtual

Implement to fill the observation vector with the observed values.

Parameters

[out]	state	state observation vector to fill, has getStateDim() elements.
[out]	velocity	velocity observation vector to fill, has getVelocityDim() elements.
[in]	currentAction	action in current step. May be NULL if not available.
[in]	dt	time step since the last observation has been taken

Implements Rcs::ObservationModel.

Definition at line 71 of file OMCollisionCost.cpp.

getLimits()

void Rcs::OMCollisionCost::getLimits ( double *  minState, double *  maxState, double *  maxVelocity  ) const

virtual

Provides the minimum and maximum observable values. Since the velocity is symmetric, only the maximum needs to be provided. The default implementation uses -inf and inf.

Parameters

[out]	minState	minimum state vector to fill, has getStateDim() elements.
[out]	maxState	maximum state vector to fill, has getStateDim() elements.
[out]	maxVelocity	maximum velocity vector to fill, has getVelocityDim() elements.

Reimplemented from Rcs::ObservationModel.

Definition at line 80 of file OMCollisionCost.cpp.

getStateDim()

unsigned int Rcs::OMCollisionCost::getStateDim ( ) const

virtual

The number of state variables.

Implements Rcs::ObservationModel.

Definition at line 61 of file OMCollisionCost.cpp.

getStateNames()

std::vector< std::string > Rcs::OMCollisionCost::getStateNames ( ) const

overridevirtual

Provides names for each state entry.

Returns

a vector of name strings. Must be of length getStateDim() or empty for a nameless space.

Reimplemented from Rcs::ObservationModel.

Definition at line 86 of file OMCollisionCost.cpp.

getVelocityDim()

unsigned int Rcs::OMCollisionCost::getVelocityDim ( ) const

virtual

The number of velocity variables. The default implementation assumes that for each state there is a velocity.

Reimplemented from Rcs::ObservationModel.

Definition at line 66 of file OMCollisionCost.cpp.

Member Data Documentation

collisionMdl

RcsCollisionMdl* Rcs::OMCollisionCost::collisionMdl

private

Rcs collision model (not owned!)

Definition at line 62 of file OMCollisionCost.h.

maxCollCost

double Rcs::OMCollisionCost::maxCollCost

private

Definition at line 64 of file OMCollisionCost.h.

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

• src/cpp/core/observation/OMCollisionCost.h
• src/cpp/core/observation/OMCollisionCost.cpp