42 namespace ompl
54 MechanicalWorkOptimizationObjective(const SpaceInformationPtr &si, double pathLengthWeight = 0.00001);
57 virtual double getPathLengthWeight() const;
An optimization objective which defines path cost using the idea of mechanical work. To be used in conjunction with TRRT.
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.
virtual double getPathLengthWeight() const
Set the factor to use for weighing path length in the mechanical work objective formulation.
Abstract definition of optimization objectives.
The weighing factor for the path length in the mechanical work objective formulation.