pnf::PNFRiskMap Class Reference

#include <PNFRiskMap.hpp>

Inheritance diagram for pnf::PNFRiskMap:

Detailed Description

A estar::RiskMap for PNF, comes in various flavors.

Todo:: Move into estar/ subdirectory and find a more generic name.

Public Member Functions

virtual double RiskToMeta (double risk) const =0

Compute meta value that corresponds to a given collision risk.

virtual double MetaToRisk (double meta) const =0

The inverse of RiskToMeta(), with ties (meta = 0) resolved to (risk = cutoff).

Static Public Member Functions

static PNFRiskMap * Create (const std::string &name, double cutoff, double degree)

Public Attributes

const std::string name

const double cutoff

const double degree

Protected Member Functions

PNFRiskMap (const std::string &name, double cutoff, double degree)

Constructor & Destructor Documentation

pnf::PNFRiskMap::PNFRiskMap	(	const std::string &	name,
		double	cutoff,
		double	degree
	)			`[protected]`

Member Function Documentation

PNFRiskMap * pnf::PNFRiskMap::Create	(	const std::string &	name,
		double	cutoff,
		double	degree
	)			`[static]`

virtual double pnf::PNFRiskMap::RiskToMeta ( double risk ) const [pure virtual]

Compute meta value that corresponds to a given collision risk.

Result depends on the PNFRiskMap's name.

Precondition:: risk >= 0

Postcondition:: 1 >= retval >= 0

Implements estar::RiskMap.

Implemented in pnf::Spike, pnf::Blunt, and pnf::Sigma.

virtual double pnf::PNFRiskMap::MetaToRisk ( double meta ) const [pure virtual]

The inverse of RiskToMeta(), with ties (meta = 0) resolved to (risk = cutoff).

This is not useful with the PNF anyways, which always goes from risk to meta, never the other way around.

Implements estar::RiskMap.

Implemented in pnf::Spike, pnf::Blunt, and pnf::Sigma.

Member Data Documentation

const std::string pnf::PNFRiskMap::name

const double pnf::PNFRiskMap::cutoff

const double pnf::PNFRiskMap::degree

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

pnf/PNFRiskMap.hpp
pnf/PNFRiskMap.cpp

E* Interpolated Graph Replanner Wed Dec 12 18:55:52 2007


Public Member Functions
virtual double	RiskToMeta (double risk) const =0
	Compute meta value that corresponds to a given collision risk.
virtual double	MetaToRisk (double meta) const =0
	The inverse of RiskToMeta(), with ties (meta = 0) resolved to (risk = cutoff).
Static Public Member Functions
static PNFRiskMap *	Create (const std::string &name, double cutoff, double degree)
Public Attributes
const std::string	name
const double	cutoff
const double	degree
Protected Member Functions
	PNFRiskMap (const std::string &name, double cutoff, double degree)