MechanicalWorkOptimizationObjective.cpp
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34 
35 /* Author: Luis G. Torres */
36 
37 #include "ompl/base/objectives/MechanicalWorkOptimizationObjective.h"
38 
40  double pathLengthWeight)
41  : OptimizationObjective(si), pathLengthWeight_(pathLengthWeight)
42 {
43  description_ = "Mechanical Work";
44 }
45 
47 {
48  return pathLengthWeight_;
49 }
50 
52 {
53  return Cost(1.0);
54 }
55 
57 {
58  // Only accrue positive changes in cost
59  double positiveCostAccrued = std::max(stateCost(s2).value() - stateCost(s1).value(), 0.0);
60  return Cost(positiveCostAccrued + pathLengthWeight_ * si_->distance(s1, s2));
61 }
std::string description_
The description of this optimization objective.
Cost motionCost(const State *s1, const State *s2) const override
Defines motion cost in terms of the mechanical work formulation used for TRRT.
MechanicalWorkOptimizationObjective(const SpaceInformationPtr &si, double pathLengthWeight=0.00001)
The mechanical work formulation requires a weighing factor to use for the length of a path in order t...
Cost stateCost(const State *s) const override
Returns a cost with a value of 1.
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:49
virtual double getPathLengthWeight() const
Set the factor to use for weighing path length in the mechanical work objective formulation.
Abstract definition of optimization objectives.
double pathLengthWeight_
The weighing factor for the path length in the mechanical work objective formulation.
SpaceInformationPtr si_
The space information for this objective.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47