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 #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 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
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47