TimeCostObstacleDensity

TimeCostObstacleDensity is a time cost function for the obstacle density that uses image processing filters. The measurement with a loading is done by the ObstacleGaussianFilter that uses the javaCV library. This has to be done only once, because the obstacles don't move.


Field: obstacleImageFilter [IGaussianFilter]

the image filter for the measurement of the density by calculating the integral over the obstacle area by using the convolution.


Field: highest [double]

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Field: timeCostFunction [ITimeCostFunction]

the next decorator (time cost function) of the decorator pattern.


Field: loading [double]

the loading of the obstacle density (= c_o).


Field: logger [Logger]

only for logging.