estar::Kernel Class Reference

#include <Kernel.hpp>

Inheritance diagram for estar::Kernel:

[legend]List of all members.

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Detailed Description

Generic E* kernel interface.

The base class ensures some simple rules, such as how to react to empty Propagator instances.

Todo:

Refactor the "polymorphic" constants using a traits class. Implement a factory method that allows creating a subclass from a parameter object or config string or something...

Public Member Functions
	Kernel (double fsm, double obm, double _scale)
virtual	~Kernel ()
double	Compute (Propagator &propagator) const
virtual bool	ChangeWouldRaise (double oldmeta, double newmeta) const
	Default implementation: Increasing meta leads to RAISE events.
Public Attributes
const double	freespace_meta
const double	obstacle_meta
const double	scale
Protected Member Functions
virtual double	DoCompute (Propagator &propagator) const=0

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Constructor & Destructor Documentation

estar::Kernel::Kernel	(	double	fsm,
		double	obm,
		double	_scale
	)			[inline]

estar::Kernel::~Kernel

(

)

[virtual]

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Member Function Documentation

double estar::Kernel::Compute

(

Propagator &

propagator

)

const

bool estar::Kernel::ChangeWouldRaise	(	double	oldmeta,
		double	newmeta
	)			const [virtual]

Default implementation: Increasing meta leads to RAISE events.

Todo:

Doesn't seem to be used anymore.

Reimplemented in estar::LSMKernel.

virtual double estar::Kernel::DoCompute

(

Propagator &

propagator

)

const [protected, pure virtual]

Implemented in estar::AlphaKernel, estar::LSMKernel, and estar::NF1Kernel.

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Member Data Documentation

const double estar::Kernel::freespace_meta

const double estar::Kernel::obstacle_meta

const double estar::Kernel::scale

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

• estar/Kernel.hpp
• estar/Kernel.cpp

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E* Interpolated Graph Replanner Wed Dec 12 18:55:50 2007