42 namespace ompl
Cost combineCosts(Cost c1, Cost c2) const override
Since we're only concerned about the "worst" state cost in the path, combining two costs just returns...
Cost motionCost(const State *s1, const State *s2) const override
Interpolates between s1 and s2 to check for state costs along the motion between the two states...
A shared pointer wrapper for ompl::base::SpaceInformation.
Cost stateCost(const State *s) const override
Returns a cost with a value of 1.
Abstract definition of optimization objectives.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.