Function hateb_local_planner::penaltyBoundFromBelow

Defined in File penalties.h

Function Documentation

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

Linear penalty function for bounding var from below: \( a < var \).

See also

penaltyBoundFromBelowDerivative

Parameters:

var – The scalar that should be bounded
a – lower bound
epsilon – safty margin (move bound to the interior of the interval)

Returns:

Penalty / cost value that is nonzero if the constraint is not satisfied