Function calc_wrong_direction_cost

• Defined in File calculate_costs.hpp

Function Documentation

arma::fvec calc_wrong_direction_cost(const arma::mat &points_xy, const arma::imat &configurations, ConeType cone_type)

Calculates the cost for configurations making significant wrong turns based on cone type.

Parameters:

• points_xy – Matrix of cone 2D coordinates.

• configurations – Matrix of cone index configurations.

• cone_type – Type of cones (LEFT or RIGHT).

Returns:

Vector of wrong direction costs for each configuration.