MechanicalWorkOptimizationObjective.h
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34 
35 /* Author: Luis G. Torres */
36 
37 #ifndef OMPL_BASE_OBJECTIVES_MECHANICAL_WORK_OPTIMIZATION_OBJECTIVE_
38 #define OMPL_BASE_OBJECTIVES_MECHANICAL_WORK_OPTIMIZATION_OBJECTIVE_
39 
40 #include "ompl/base/OptimizationObjective.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
49  {
50  public:
54  MechanicalWorkOptimizationObjective(const SpaceInformationPtr &si, double pathLengthWeight = 0.00001);
55 
57  virtual double getPathLengthWeight() const;
58 
60  Cost stateCost(const State *s) const override;
61 
63  Cost motionCost(const State *s1, const State *s2) const override;
64 
65  protected:
68  };
69  }
70 }
71 
72 #endif
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
An optimization objective which defines path cost using the idea of mechanical work....
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.
double pathLengthWeight_
The weighing factor for the path length in the mechanical work objective formulation.
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.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22