StateCostIntegralObjective.cpp
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34 
35 /* Author: Luis G. Torres */
36 
37 #include "ompl/base/objectives/StateCostIntegralObjective.h"
38 
40  bool enableMotionCostInterpolation)
41  : OptimizationObjective(si), interpolateMotionCost_(enableMotionCostInterpolation)
42 {
43  description_ = "State Cost Integral";
44 }
45 
47 {
48  return Cost(1.0);
49 }
50 
52 {
53  if (interpolateMotionCost_)
54  {
55  Cost totalCost = this->identityCost();
56 
57  int nd = si_->getStateSpace()->validSegmentCount(s1, s2);
58 
59  State *test1 = si_->cloneState(s1);
60  Cost prevStateCost = this->stateCost(test1);
61  if (nd > 1)
62  {
63  State *test2 = si_->allocState();
64  for (int j = 1; j < nd; ++j)
65  {
66  si_->getStateSpace()->interpolate(s1, s2, (double)j / (double)nd, test2);
67  Cost nextStateCost = this->stateCost(test2);
68  totalCost = Cost(totalCost.value() +
69  this->trapezoid(prevStateCost, nextStateCost, si_->distance(test1, test2)).value());
70  std::swap(test1, test2);
71  prevStateCost = nextStateCost;
72  }
73  si_->freeState(test2);
74  }
75 
76  // Lastly, add s2
77  totalCost = Cost(totalCost.value() +
78  this->trapezoid(prevStateCost, this->stateCost(s2), si_->distance(test1, s2)).value());
79 
80  si_->freeState(test1);
81 
82  return totalCost;
83  }
84 
85  return this->trapezoid(this->stateCost(s1), this->stateCost(s2), si_->distance(s1, s2));
86 }
87 
89 {
90  return interpolateMotionCost_;
91 }
std::string description_
The description of this optimization objective.
bool isMotionCostInterpolationEnabled() const
Returns whether this objective subdivides motions into smaller segments for more accurate motion cost...
Cost motionCost(const State *s1, const State *s2) const override
Compute the cost of a path segment from s1 to s2 (including endpoints)
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:49
StateCostIntegralObjective(const SpaceInformationPtr &si, bool enableMotionCostInterpolation=false)
If enableMotionCostInterpolation is set to true, then calls to motionCost() will divide the motion se...
Abstract definition of optimization objectives.
Cost stateCost(const State *s) const override
Returns a cost with a value of 1.
double value() const
The value of the cost.
Definition: Cost.h:56
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47