CostConvergenceTerminationCondition.cpp
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34 
35 /* Author: Henning Kayser, Mark Moll */
36 
37 #include "ompl/base/terminationconditions/CostConvergenceTerminationCondition.h"
38 
40  ompl::base::ProblemDefinitionPtr &pdef, size_t solutionsWindow, double epsilon)
42  pdef_(pdef),
43  solutionsWindow_(solutionsWindow),
44  epsilon_(epsilon)
45 {
46  pdef_->setIntermediateSolutionCallback(
47  [this](const Planner* /*planner*/, const std::vector<const State*>& /*states*/, const Cost cost) {
48  this->processNewSolution(cost);
49  });
50 }
51 
52 void ompl::base::CostConvergenceTerminationCondition::processNewSolution(const ompl::base::Cost solutionCost)
53 {
54  ++solutions_;
55  size_t solutions = std::min(solutions_, solutionsWindow_);
56  double newCost = ((solutions - 1) * averageCost_ + solutionCost.value()) / solutions;
57  double costLowerThreshold = (1. - epsilon_) * averageCost_;
58  double costUpperThreshold = (1. + epsilon_) * averageCost_;
59  averageCost_ = newCost;
60 
61  if (solutions == solutionsWindow_ &&
62  averageCost_ > costLowerThreshold &&
63  averageCost_ < costUpperThreshold)
64  {
65  OMPL_DEBUG("CostConvergenceTerminationCondition: Cost of optimizing planner converged after %lu solutions", solutions_);
66  terminate();
67  }
68 }
Base class for a planner.
Definition: Planner.h:287
double value() const
The value of the cost.
Definition: Cost.h:152
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:112
CostConvergenceTerminationCondition(ProblemDefinitionPtr &pdef, size_t solutionsWindow=10, double epsilon=0.1)
Constructor.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
A shared pointer wrapper for ompl::base::ProblemDefinition.
PlannerTerminationCondition plannerNonTerminatingCondition()
Simple termination condition that always returns false. The termination condition will never be met.
#define OMPL_DEBUG(fmt,...)
Log a formatted debugging string.
Definition: Console.h:70
Main namespace. Contains everything in this library.
Definition: AppBase.h:22