Parameter.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_PARAMETER_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_PARAMETER_
 
#include <ompl/util/Exception.h>
 
namespace ompl
{
    class Parameter
    {
    public:
        Parameter() = default;
 
        Parameter(double valueInit) : valueInit_(valueInit){};
 
        Parameter(double valueInit, double valueTarget) : valueInit_(valueInit), valueTarget_(valueTarget){};
 
        void setValueInit(double valueInit)
        {
            valueInit_ = valueInit;
        }
        void setValueTarget(double valueTarget)
        {
            valueTarget_ = valueTarget;
        }
        void setCounterInit(unsigned long long counterInit)
        {
            counterInit_ = counterInit;
        }
        void setCounterTarget(unsigned long long counterTarget)
        {
            counterTarget_ = counterTarget;
        }
 
        double getValueInit()
        {
            return valueInit_;
        }
        double getValueTarget()
        {
            return valueTarget_;
        }
        unsigned long long getCounterInit()
        {
            return counterInit_;
        }
        unsigned long long getCounterTarget()
        {
            return counterTarget_;
        }
 
        double operator()(void)
        {
            if (counter_ > counterTarget_)
                return valueTarget_;
 
            // map to [0,1]
            double t = (counter_ - counterInit_) / (double)(counterTarget_ - counterInit_);
 
            double d = valueInit_ + t * (valueTarget_ - valueInit_);
            counter_++;
            return d;
        }
 
        void reset()
        {
            counter_ = counterInit_;
        }
 
        unsigned long long getCounter()
        {
            return counter_;
        }
        void incrementCounter()
        {
            counter_++;
        }
 
    private:
        double valueInit_{0.0};
        double valueTarget_{1.0};
 
        unsigned long long counter_{0};
        unsigned long long counterInit_{0};
        unsigned long long counterTarget_{100};
    };
}
#endif