PathLengthOptimizationObjective.cpp
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34 
35 /* Author: Luis G. Torres, Jonathan Gammell */
36 
37 #include "ompl/base/objectives/PathLengthOptimizationObjective.h"
38 #include <memory>
39 #include "ompl/base/samplers/informed/PathLengthDirectInfSampler.h"
40 
41 ompl::base::PathLengthOptimizationObjective::PathLengthOptimizationObjective(const SpaceInformationPtr &si)
42  : ompl::base::OptimizationObjective(si)
43 {
44  description_ = "Path Length";
45 
46  // Setup a default cost-to-go heuristics:
48 }
49 
51 {
52  return identityCost();
53 }
54 
56 {
57  return Cost(si_->distance(s1, s2));
58 }
59 
61  const State *s2) const
62 {
63  return motionCost(s1, s2);
64 }
65 
67  const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls) const
68 {
69 // Make the direct path-length informed sampler and return. If OMPL was compiled with Eigen, a direct version is
70 // available, if not a rejection-based technique can be used
71  return std::make_shared<PathLengthDirectInfSampler>(probDefn, maxNumberCalls);
72 }
std::string description_
The description of this optimization objective.
A shared pointer wrapper for ompl::base::ProblemDefinition.
Cost stateCost(const State *s) const override
Returns identity cost.
Cost goalRegionCostToGo(const State *state, const Goal *goal)
For use when the cost-to-go of a state under the optimization objective is equivalent to the goal reg...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
void setCostToGoHeuristic(const CostToGoHeuristic &costToGo)
Set the cost-to-go heuristic function for this objective. The cost-to-go heuristic is a function whic...
Cost motionCost(const State *s1, const State *s2) const override
Motion cost for this objective is defined as the configuration space distance between s1 and s2...
InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls) const override
Allocate a state sampler for the path-length objective (i.e., direct ellipsoidal sampling).
Definition of an abstract state.
Definition: State.h:49
Cost motionCostHeuristic(const State *s1, const State *s2) const override
the motion cost heuristic for this objective is simply the configuration space distance between s1 an...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47