CostConvergenceTerminationCondition.h
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34 
35 /* Author: Henning Kayser, Mark Moll */
36 
37 #include "ompl/base/PlannerTerminationCondition.h"
38 
39 namespace ompl
40 {
41  namespace base
42  {
44  class CostConvergenceTerminationCondition : public PlannerTerminationCondition
45  {
46  public:
55  CostConvergenceTerminationCondition(ProblemDefinitionPtr &pdef, size_t solutionsWindow = 10,
56  double epsilon = 0.1);
57 
58  // Compute the running average cost of the last solutions (solutionWindow)
59  // and terminate if the cost of a new solution is worse than
60  // convergenceThreshold times the average cost.
61  void processNewSolution(const Cost solutionCost);
62 
63  private:
67  double averageCost_{0.};
69  size_t solutions_{0};
70 
72  const size_t solutionsWindow_;
75  const double epsilon_;
76  };
77  } // namespace base
78 } // namespace ompl
CostConvergenceTerminationCondition(ProblemDefinitionPtr &pdef, size_t solutionsWindow=10, double epsilon=0.1)
Constructor.
A shared pointer wrapper for ompl::base::ProblemDefinition.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22