42 namespace ompl
A shared pointer wrapper for ompl::base::SpaceInformation.
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....
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Abstract definition of optimization objectives.
The cost of a path is defined as the worst state cost over the entire path. This objective attempts t...
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 stateCost(const State *s) const override
Returns a cost with a value of 1.