arbitrator::CostFunction Class Reference

Generic interface representing a means of computing cost for plans in the search graph. More...

#include <cost_function.hpp>

Inheritance diagram for arbitrator::CostFunction:

Collaboration diagram for arbitrator::CostFunction:

Public Member Functions
virtual double	compute_total_cost (const carma_planning_msgs::msg::ManeuverPlan &plan)=0
	Compute the cost of a given maneuver plan. More...
virtual double	compute_cost_per_unit_distance (const carma_planning_msgs::msg::ManeuverPlan &plan)=0
	Compute the unit cost over distance of a given maneuver plan. More...
virtual	~CostFunction ()
	Virtual destructor provided for memory safety. More...

Detailed Description

Generic interface representing a means of computing cost for plans in the search graph.

Definition at line 29 of file cost_function.hpp.

Constructor & Destructor Documentation

~CostFunction()

virtual arbitrator::CostFunction::~CostFunction ( )

inlinevirtual

Virtual destructor provided for memory safety.

Definition at line 49 of file cost_function.hpp.

{};

Member Function Documentation

compute_cost_per_unit_distance()

virtual double arbitrator::CostFunction::compute_cost_per_unit_distance ( const carma_planning_msgs::msg::ManeuverPlan &  plan )

pure virtual

Compute the unit cost over distance of a given maneuver plan.

Parameters

plan	The plan to evaluate

Returns

double The total cost divided by the total distance of the plan

Implemented in arbitrator::CostSystemCostFunction, and arbitrator::FixedPriorityCostFunction.

compute_total_cost()

virtual double arbitrator::CostFunction::compute_total_cost ( const carma_planning_msgs::msg::ManeuverPlan &  plan )

pure virtual

Compute the cost of a given maneuver plan.

Parameters

plan	The plan to evaluate

Returns

double The total cost

Implemented in arbitrator::CostSystemCostFunction, and arbitrator::FixedPriorityCostFunction.

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

• arbitrator/include/cost_function.hpp