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| <code>#include "<a class="el" href="frontier__cost__function_8h_source.html">pandora_exploration/cost_functions/frontier_cost_function.h</a>"</code><br/> | ||
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| <a href="alignment__cost__function_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span> | ||
| <a name="l00002"></a>00002 <span class="comment">*</span> | ||
| <a name="l00003"></a>00003 <span class="comment">* Software License Agreement (BSD License)</span> | ||
| <a name="l00004"></a>00004 <span class="comment">*</span> | ||
| <a name="l00005"></a>00005 <span class="comment">* Copyright (c) 2014 - 2015, P.A.N.D.O.R.A. Team.</span> | ||
| <a name="l00006"></a>00006 <span class="comment">* All rights reserved.</span> | ||
| <a name="l00007"></a>00007 <span class="comment">*</span> | ||
| <a name="l00008"></a>00008 <span class="comment">* Redistribution and use in source and binary forms, with or without</span> | ||
| <a name="l00009"></a>00009 <span class="comment">* modification, are permitted provided that the following conditions</span> | ||
| <a name="l00010"></a>00010 <span class="comment">* are met:</span> | ||
| <a name="l00011"></a>00011 <span class="comment">*</span> | ||
| <a name="l00012"></a>00012 <span class="comment">* * Redistributions of source code must retain the above copyright</span> | ||
| <a name="l00013"></a>00013 <span class="comment">* notice, this list of conditions and the following disclaimer.</span> | ||
| <a name="l00014"></a>00014 <span class="comment">* * Redistributions in binary form must reproduce the above</span> | ||
| <a name="l00015"></a>00015 <span class="comment">* copyright notice, this list of conditions and the following</span> | ||
| <a name="l00016"></a>00016 <span class="comment">* disclaimer in the documentation and/or other materials provided</span> | ||
| <a name="l00017"></a>00017 <span class="comment">* with the distribution.</span> | ||
| <a name="l00018"></a>00018 <span class="comment">* * Neither the name of the P.A.N.D.O.R.A. Team nor the names of its</span> | ||
| <a name="l00019"></a>00019 <span class="comment">* contributors may be used to endorse or promote products derived</span> | ||
| <a name="l00020"></a>00020 <span class="comment">* from this software without specific prior written permission.</span> | ||
| <a name="l00021"></a>00021 <span class="comment">*</span> | ||
| <a name="l00022"></a>00022 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span> | ||
| <a name="l00023"></a>00023 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span> | ||
| <a name="l00024"></a>00024 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span> | ||
| <a name="l00025"></a>00025 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span> | ||
| <a name="l00026"></a>00026 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span> | ||
| <a name="l00027"></a>00027 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span> | ||
| <a name="l00028"></a>00028 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span> | ||
| <a name="l00029"></a>00029 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span> | ||
| <a name="l00030"></a>00030 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span> | ||
| <a name="l00031"></a>00031 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span> | ||
| <a name="l00032"></a>00032 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span> | ||
| <a name="l00033"></a>00033 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span> | ||
| <a name="l00034"></a>00034 <span class="comment">*</span> | ||
| <a name="l00035"></a>00035 <span class="comment">* Author: Chris Zalidis <[email protected]>, </span> | ||
| <a name="l00036"></a>00036 <span class="comment"> Dimitrios Kirtsios <[email protected]></span> | ||
| <a name="l00037"></a>00037 <span class="comment">*********************************************************************/</span> | ||
| <a name="l00038"></a>00038 | ||
| <a name="l00039"></a>00039 <span class="preprocessor">#ifndef PANDORA_EXPLORATION_COST_FUNCTIONS_ALIGNMENT_COST_FUNCTION_H</span> | ||
| <a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">#define PANDORA_EXPLORATION_COST_FUNCTIONS_ALIGNMENT_COST_FUNCTION_H</span> | ||
| <a name="l00041"></a>00041 <span class="preprocessor"></span> | ||
| <a name="l00042"></a>00042 <span class="preprocessor">#include <boost/foreach.hpp></span> | ||
| <a name="l00043"></a>00043 <span class="preprocessor">#include <tf/tf.h></span> | ||
| <a name="l00044"></a>00044 <span class="preprocessor">#include <angles/angles.h></span> | ||
| <a name="l00045"></a>00045 | ||
| <a name="l00046"></a>00046 <span class="preprocessor">#include "<a class="code" href="frontier__cost__function_8h.html">pandora_exploration/cost_functions/frontier_cost_function.h</a>"</span> | ||
| <a name="l00047"></a>00047 | ||
| <a name="l00048"></a><a class="code" href="namespacepandora__exploration.html">00048</a> <span class="keyword">namespace </span>pandora_exploration { | ||
| <a name="l00049"></a>00049 | ||
| <a name="l00059"></a><a class="code" href="classpandora__exploration_1_1_alignment_cost_function.html">00059</a> <span class="keyword">class </span><a class="code" href="classpandora__exploration_1_1_alignment_cost_function.html" title="A class implementing a frontier cost function using the provided interface.">AlignmentCostFunction</a> : <span class="keyword">public</span> <a class="code" href="classpandora__exploration_1_1_frontier_cost_function.html" title="Provides an interface for the cost functions of the frontier goal selector. Every frontier cost funct...">FrontierCostFunction</a> | ||
| <a name="l00060"></a>00060 { | ||
| <a name="l00061"></a>00061 <span class="keyword">public</span>: | ||
| <a name="l00062"></a>00062 | ||
| <a name="l00068"></a>00068 <a class="code" href="classpandora__exploration_1_1_alignment_cost_function.html#a322a7fbbe84531796c432cd09c71a278" title="Constructor for the AlignmentCostFunction class.">AlignmentCostFunction</a>(<span class="keywordtype">double</span> scale, <span class="keyword">const</span> geometry_msgs::PoseStamped& robot_pose); | ||
| <a name="l00069"></a>00069 | ||
| <a name="l00077"></a>00077 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classpandora__exploration_1_1_alignment_cost_function.html#ab988fdf65ee634b21bf804d85880cb4f" title="Takes a list of frontiers and adds a cost to each one of them.">scoreFrontiers</a>(<span class="keyword">const</span> <a class="code" href="namespacepandora__exploration.html#a6f3b1959fca391e2ef3ac46b6e96be7a">FrontierListPtr</a>& frontier_list); | ||
| <a name="l00078"></a>00078 | ||
| <a name="l00082"></a><a class="code" href="classpandora__exploration_1_1_alignment_cost_function.html#adac4fc7c269fe6a4a198770b4823bbfd">00082</a> <a class="code" href="classpandora__exploration_1_1_alignment_cost_function.html#adac4fc7c269fe6a4a198770b4823bbfd" title="Destructor for the AlignmentCostFunction class.">~AlignmentCostFunction</a>() {} | ||
| <a name="l00083"></a>00083 | ||
| <a name="l00084"></a>00084 <span class="keyword">private</span>: | ||
| <a name="l00085"></a>00085 | ||
| <a name="l00086"></a>00086 <span class="keyword">const</span> geometry_msgs::PoseStamped& robot_pose_; | ||
| <a name="l00087"></a>00087 }; | ||
| <a name="l00088"></a>00088 | ||
| <a name="l00089"></a>00089 } <span class="comment">// namespace pandora_exploration</span> | ||
| <a name="l00090"></a>00090 | ||
| <a name="l00091"></a>00091 <span class="preprocessor">#endif // PANDORA_EXPLORATION_COST_FUNCTIONS_ALIGNMENT_COST_FUNCTION_H</span> | ||
| </pre></div></div><!-- contents --> | ||
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