Collision penalty More...

Inheritance diagram for trajopt::CollisionCostInfo:

Public Member Functions
void	fromJson (const Value &v)

void	hatch (TrajOptProb &prob)

Public Member Functions inherited from trajopt::TermInfo
virtual void	fromJson (const Json::Value &v)=0

Public Attributes
int	first_step
	first_step and last_step are inclusive

int	last_step

DblVec	coeffs
	coeffs.size() = num_timesteps

DblVec	dist_pen
	safety margin: contacts with distance < dist_pen are penalized

bool	continuous

int	gap
	for continuous-time penalty, use swept-shape between timesteps t and t+gap (gap=1 by default)

Public Attributes inherited from trajopt::TermInfo
string	name

TermType	term_type

Additional Inherited Members
Public Types inherited from trajopt::TermInfo
typedef TermInfoPtr(*	MakerFunc )(void)
	Registers a user-defined TermInfo so you can use your own cost see function RegisterMakers.cpp.

Static Public Member Functions inherited from trajopt::TermInfo
static TermInfoPtr	fromName (const string &type)

static void	RegisterMaker (const std::string &type, MakerFunc)

Detailed Description

Collision penalty

Distrete-time penalty:

$\begin{align*} cost = \sum_{t=0}^{T-1} \sum_{A, B} | distpen_t - sd(A,B) |^+ \end{align*}$

Continuous-time penalty: same, except you consider swept-out shaps of robot links. Currently self-collisions are not included.

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

Public Member Functions