Function hateb_local_planner::penaltyBoundFromBelowDerivative

• Defined in File penalties.h

Function Documentation

inline double hateb_local_planner::penaltyBoundFromBelowDerivative(const double &var, const double &a, const double &epsilon)

Derivative of the linear penalty function for bounding var from below: \( a < var \).

See also

penaltyBoundFromBelow

Parameters:

• var – The scalar that should be bounded

• a – lower bound

• epsilon – safty margin (move bound to the interior of the interval)

Returns:

Derivative of the penalty function w.r.t. var