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 
45 namespace ompl
46 {
51  class ParameterExponentialDecay : public Parameter
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
unsigned long long getCounter()
Get current counter.
Definition: Parameter.h:191
void incrementCounter()
Increment counter.
Definition: Parameter.h:196
double operator()(void)
Evaluate exponential decay at counter.
double getValueTarget()
Get target value.
Definition: Parameter.h:155
void setLambda(double lambda)
Set lambda decay parameter (default: 0.1)
The exception type for ompl.
Definition: Exception.h:78
Main namespace. Contains everything in this library.
double getValueInit()
Get init value.
Definition: Parameter.h:150