Public Types
enum	CostAppliesWhen_t { CONF_COST, PATH_COST, PATH_SMOOTHING_COST }

Public Member Functions
	CostManager (const std::string &global_path, bool proactive=false)

void	takeControlAndSet ()
	set the planner and cost space according to given settings

void	setActionType (Sem::ActionType act_t)

void	setCostType (CostSettingType cost_t)

void	updatePlannerSettings ()

double	getCost (Configuration &q)

double	getCostPath (std::vector< LocalPath * > &path)

double	getCostAggregationNormalized (std::vector< LocalPath * > &path)

boost::function< double(std::vector < LocalPath * > &)>	getCostPathFunction (CostSettingType type)

void	clear ()

void	prepareForSmoothing (API::Trajectory &path)

void	endSmoothing (API::Trajectory *path=0)

bool	fetchSettings ()
	fetchSettings get settings from json files at default emplacement More...

bool	readActionsCostMapping (std::string path)

bool	readCostSetting (const CostSettingType &cost, CostAppliesWhen_t when)

bool	readCostSetting (std::string path, const CostSettingType &cost, CostAppliesWhen_t when)

bool	readAlgoParams (const Sem::AgentType &agent_type)

bool	readAlgoParams (const Sem::AgentType &agent_type, const std::string &path)

boost::function< double(Configuration &)>	jsonToFunction (Json::Value &f)

boost::function< double(std::vector < LocalPath * > &)>	jsonToFunctionTraj (Json::Value &f)

std::string	getPath ()

std::string	getPath (CostAppliesWhen_t when)

bool	proactive () const

void	setProactive (bool proactive)

std::string	globalPath () const

void	setGlobalPath (const std::string &globalPath)

CostSettingType	currentCostType () const

bool	isSmoothing () const

double	pathCostNormalizationFactor () const

void	setPathCostNormalizationFactor (double pathCostNormalizationFactor)

Env::boolParameter	planningMethod ()

bool	hasControlOnPlanning () const

void	setHasControlOnPlanning (bool hasControlOnPlanning)

std::map< std::string, double > const &	functionCostStack () const

Static Public Member Functions
static CostManager *	mainCostManager ()

static boost::function< double(double, double)>	elementaryOperation (std::string const &name)

static boost::function< double(double)>	elementaryFunction (std::string const &name, const Json::Value &json)

static double	sigmoidFunction (double val, double upper, double lower, double min, double max)

static double	boundFunction (double val, double min, double max)

static double	affineFunction (double val, double a, double b)

Protected Member Functions
double	getCostStack (std::string const &name, Configuration &q)

double	getCostStackPath (std::string const &name, std::vector< LocalPath * > &path)

Member Function Documentation

bool HRICS::CostManager::fetchSettings ( )

fetchSettings get settings from json files at default emplacement

Returns

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

src/HRI_costspace/HRICS_CostManager.h
src/HRI_costspace/HRICS_CostManager.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Member Function Documentation