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ParameterExponentialDecay.h
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36
37/* Author: Andreas Orthey */
38
39#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_EXPONENTIAL_DECAY__
40#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_EXPONENTIAL_DECAY__
41
42#include <ompl/util/Exception.h>
43#include <ompl/multilevel/datastructures/Parameter.h>
44
45namespace ompl
46{
52 {
53 public:
54 ParameterExponentialDecay() = default;
55
56 ParameterExponentialDecay(double lambda) : Parameter(), lambda_(lambda)
57 {
58 setLambda(lambda);
59 };
60
61 ParameterExponentialDecay(double lambda, double valueInit) : Parameter(valueInit), lambda_(lambda)
62 {
63 setLambda(lambda);
64 };
65
66 ParameterExponentialDecay(double lambda, double valueInit, double valueTarget)
67 : Parameter(valueInit, valueTarget), lambda_(lambda)
68 {
69 setLambda(lambda);
70 };
71
73 void setLambda(double lambda)
74 {
75 if (lambda < 0)
76 {
77 throw ompl::Exception("ExponentialDecay requires non-negative lambda");
78 }
79 else
80 {
81 lambda_ = lambda;
82 }
83 }
84
86 double operator()(void)
87 {
88 double value = (getValueInit() - getValueTarget()) * exp(-lambda_ * getCounter()) + getValueTarget();
90 return value;
91 }
92
93 private:
95 double lambda_{0.1};
96 };
97}
98#endif
The exception type for ompl.
Definition Exception.h:47
ParameterExponentialDecay represents a smooth interpolation between two parameter values using an exp...
void setLambda(double lambda)
Set lambda decay parameter (default: 0.1)
double operator()(void)
Evaluate exponential decay at counter.
Parameter represents a smooth interpolation between two parameter values, namely valueInit and valueT...
Definition Parameter.h:52
void incrementCounter()
Increment counter.
Definition Parameter.h:128
double getValueInit()
Get init value.
Definition Parameter.h:82
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.