Parameter.h
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36 
37 /* Author: Andreas Orthey */
38 
39 #ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_PARAMETER_
40 #define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_PARAMETER_
41 
42 #include <ompl/util/Exception.h>
43 
44 namespace ompl
45 {
51  class Parameter
52  {
53  public:
54  Parameter() = default;
55 
56  Parameter(double valueInit) : valueInit_(valueInit){};
57 
58  Parameter(double valueInit, double valueTarget) : valueInit_(valueInit), valueTarget_(valueTarget){};
59 
61  void setValueInit(double valueInit)
62  {
63  valueInit_ = valueInit;
64  }
66  void setValueTarget(double valueTarget)
67  {
68  valueTarget_ = valueTarget;
69  }
71  void setCounterInit(unsigned long long counterInit)
72  {
73  counterInit_ = counterInit;
74  }
76  void setCounterTarget(unsigned long long counterTarget)
77  {
78  counterTarget_ = counterTarget;
79  }
80 
82  double getValueInit()
83  {
84  return valueInit_;
85  }
87  double getValueTarget()
88  {
89  return valueTarget_;
90  }
92  unsigned long long getCounterInit()
93  {
94  return counterInit_;
95  }
97  unsigned long long getCounterTarget()
98  {
99  return counterTarget_;
100  }
101 
103  double operator()(void)
104  {
105  if (counter_ > counterTarget_)
106  return valueTarget_;
107 
108  // map to [0,1]
109  double t = (counter_ - counterInit_) / (double)(counterTarget_ - counterInit_);
110 
111  double d = valueInit_ + t * (valueTarget_ - valueInit_);
112  counter_++;
113  return d;
114  }
115 
117  void reset()
118  {
119  counter_ = counterInit_;
120  }
121 
123  unsigned long long getCounter()
124  {
125  return counter_;
126  }
128  void incrementCounter()
129  {
130  counter_++;
131  }
132 
133  private:
135  double valueInit_{0.0};
137  double valueTarget_{1.0};
138 
139  unsigned long long counter_{0};
140  unsigned long long counterInit_{0};
141  unsigned long long counterTarget_{100};
142  };
143 }
144 #endif
unsigned long long getCounter()
Get current counter.
Definition: Parameter.h:191
double operator()(void)
Call parameter and increase counter.
Definition: Parameter.h:171
void setValueInit(double valueInit)
Set initial value (default: 0.0)
Definition: Parameter.h:129
void reset()
Reset counter to init counter.
Definition: Parameter.h:185
unsigned long long getCounterTarget()
Get counter target value.
Definition: Parameter.h:165
void incrementCounter()
Increment counter.
Definition: Parameter.h:196
void setCounterTarget(unsigned long long counterTarget)
Set counter target value (default: 100)
Definition: Parameter.h:144
void setCounterInit(unsigned long long counterInit)
Set counter init value (default: 0)
Definition: Parameter.h:139
double getValueTarget()
Get target value.
Definition: Parameter.h:155
unsigned long long getCounterInit()
Get counter init value.
Definition: Parameter.h:160
void setValueTarget(double valueTarget)
Set target value (default: 1.0)
Definition: Parameter.h:134
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
double getValueInit()
Get init value.
Definition: Parameter.h:150