PathLengthOptimizationObjective.cpp
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Luis G. Torres, Jonathan Gammell */
36 
37 #include "ompl/base/objectives/PathLengthOptimizationObjective.h"
38 #include <memory>
39 #if OMPL_HAVE_EIGEN3
40 #include "ompl/base/samplers/informed/PathLengthDirectInfSampler.h"
41 #else
42 #include "ompl/base/samplers/informed/RejectionInfSampler.h"
43 #endif
44 
45 ompl::base::PathLengthOptimizationObjective::PathLengthOptimizationObjective(const SpaceInformationPtr &si)
46  : ompl::base::OptimizationObjective(si)
47 {
48  description_ = "Path Length";
49 
50  // Setup a default cost-to-go heuristics:
52 }
53 
55 {
56  return identityCost();
57 }
58 
60 {
61  return Cost(si_->distance(s1, s2));
62 }
63 
65  const State *s2) const
66 {
67  return motionCost(s1, s2);
68 }
69 
71  const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls) const
72 {
73 // Make the direct path-length informed sampler and return. If OMPL was compiled with Eigen, a direct version is
74 // available, if not a rejection-based technique can be used
75 #if OMPL_HAVE_EIGEN3
76  return std::make_shared<PathLengthDirectInfSampler>(probDefn, maxNumberCalls);
77 #else
78  throw Exception("Direct sampling of the path-length objective requires Eigen, but this version of OMPL was "
79  "compiled without Eigen support. If possible, please install Eigen and recompile OMPL. If this is "
80  "not possible, you can manually create an instantiation of RejectionInfSampler to approximate the "
81  "behaviour of direct informed sampling.");
82  // Return a null pointer to avoid compiler warnings
83  return ompl::base::InformedSamplerPtr();
84 #endif
85 }
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 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...
virtual Cost identityCost() const
Get the identity cost value. The identity cost value is the cost c_i such that, for all costs c...
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...
The exception type for ompl.
Definition: Exception.h:46
SpaceInformationPtr si_
The space information for this objective.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47