#include <OMCollisionCostPrediction.h>

Inheritance diagram for Rcs::OMCollisionCostPrediction:

Collaboration diagram for Rcs::OMCollisionCostPrediction:

[legend]

Public Member Functions
	OMCollisionCostPrediction (RcsGraph graph, RcsCollisionMdl collisionMdl, const ActionModel *actionModel, size_t horizon=10, double maxCollCost=1e4)

virtual	~OMCollisionCostPrediction ()

	OMCollisionCostPrediction (const OMCollisionCostPrediction &)=delete

OMCollisionCostPrediction &	operator= (const OMCollisionCostPrediction &)=delete

	OMCollisionCostPrediction (OMCollisionCostPrediction &&)=delete

OMCollisionCostPrediction &	operator= (OMCollisionCostPrediction &&)=delete

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
RcsGraph *	realGraph

RcsGraph *	predictGraph

ActionModel *	predictActionModel

RcsCollisionMdl *	collisionMdl

size_t	horizon

double	maxCollCost

Detailed Description

Definition at line 41 of file OMCollisionCostPrediction.h.

Constructor & Destructor Documentation

◆ OMCollisionCostPrediction() [1/3]

Rcs::OMCollisionCostPrediction::OMCollisionCostPrediction	(	RcsGraph *	graph,
		RcsCollisionMdl *	collisionMdl,
		const ActionModel *	actionModel,
		size_t	horizon = `10`,
		double	maxCollCost = `1e4`
	)

Definition at line 44 of file OMCollisionCostPrediction.cpp.

◆ ~OMCollisionCostPrediction()

Rcs::OMCollisionCostPrediction::~OMCollisionCostPrediction ( )

virtual

Definition at line 59 of file OMCollisionCostPrediction.cpp.

◆ OMCollisionCostPrediction() [2/3]

Rcs::OMCollisionCostPrediction::OMCollisionCostPrediction ( const OMCollisionCostPrediction & )

delete

◆ OMCollisionCostPrediction() [3/3]

Rcs::OMCollisionCostPrediction::OMCollisionCostPrediction ( OMCollisionCostPrediction && )

delete

Member Function Documentation

◆ computeObservation()

void Rcs::OMCollisionCostPrediction::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 78 of file OMCollisionCostPrediction.cpp.

◆ getLimits()

void Rcs::OMCollisionCostPrediction::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.