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 }
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
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...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
Cost stateCost(const State *s) const override
Returns a cost with a value of 1.
Abstract definition of optimization objectives.
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.
virtual double getPathLengthWeight() const
Set the factor to use for weighing path length in the mechanical work objective formulation.