42 namespace ompl
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Abstract definition of optimization objectives.
An optimization objective which corresponds to optimizing path length.
InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls) const override
Allocate a state sampler for the path-length objective (i.e., direct ellipsoidal sampling).
Cost stateCost(const State *s) const override
Returns identity cost.
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...
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,...
A shared pointer wrapper for ompl::base::ProblemDefinition.
A shared pointer wrapper for ompl::base::SpaceInformation.