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 
45 namespace 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
unsigned long long getCounter()
Get current counter.
Definition: Parameter.h:191
unsigned long long getCounterTarget()
Get counter target value.
Definition: Parameter.h:165
void incrementCounter()
Increment counter.
Definition: Parameter.h:196
double operator()(void)
Evaluate interpolation at counter using a third-order hermite polynomial.
double getValueTarget()
Get target value.
Definition: Parameter.h:155
unsigned long long getCounterInit()
Get counter init value.
Definition: Parameter.h:160
Main namespace. Contains everything in this library.
double getValueInit()
Get init value.
Definition: Parameter.h:150