Struct Evaluator

• Defined in File evaluator.h

Inheritance Relationships

Derived Types

• public reach::MultiplicativeEvaluator (Class MultiplicativeEvaluator)

• public reach::NoOpEvaluator (Struct NoOpEvaluator)

Struct Documentation

struct Evaluator

Interface for evaluating the “fitness” of a robot joint pose (i.e., IK solution)

Subclassed by reach::MultiplicativeEvaluator, reach::NoOpEvaluator

Public Types

using Ptr = std::shared_ptr<Evaluator>

using ConstPtr = std::shared_ptr<const Evaluator>

Public Functions

Evaluator() = default

virtual ~Evaluator() = default

virtual double calculateScore(const std::map<std::string, double> &pose) const = 0

Calculates a score representing the “fitness” (i.e., quality of reachability) for a given robot pose.

The better the reachability of the pose, the higher the score should be.