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ParameterSmoothStep.h
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36
37/* Author: Andreas Orthey */
38
39#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_PARAMETER_SMOOTH_STEP_
40#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_PARAMETER_SMOOTH_STEP_
41
42#include <ompl/util/Exception.h>
43#include <ompl/multilevel/datastructures/Parameter.h>
44
45namespace ompl
46{
49 class ParameterSmoothStep : public Parameter
50 {
51 public:
52 ParameterSmoothStep() = default;
53
54 ParameterSmoothStep(double initValue) : Parameter(initValue){};
55
56 ParameterSmoothStep(double initValue, double targetValue) : Parameter(initValue, targetValue){};
57
60 double operator()(void)
61 {
62 // map to [0,1]
63 double t = (getCounter() - getCounterInit()) / (double)(getCounterTarget() - getCounterInit());
64
66
67 if (t < 0)
68 return getValueInit();
69 if (t >= 1)
70 return getValueTarget();
71
72 return getValueInit() + (getValueTarget() - getValueInit()) * (t * t * (3 - 2 * t));
73 }
74 };
75}
76#endif
double operator()(void)
Evaluate interpolation at counter using a third-order hermite polynomial.
void incrementCounter()
Increment counter.
Definition Parameter.h:128
double getValueInit()
Get init value.
Definition Parameter.h:82
unsigned long long getCounterTarget()
Get counter target value.
Definition Parameter.h:97
unsigned long long getCounterInit()
Get counter init value.
Definition Parameter.h:92
double getValueTarget()
Get target value.
Definition Parameter.h:87
unsigned long long getCounter()
Get current counter.
Definition Parameter.h:123
Main namespace. Contains everything in this library.