StateCostIntegralObjective.h
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34 
35 /* Author: Luis G. Torres */
36 
37 #ifndef OMPL_BASE_OBJECTIVES_STATE_COST_OPTIMIZATION_OBJECTIVE_
38 #define OMPL_BASE_OBJECTIVES_STATE_COST_OPTIMIZATION_OBJECTIVE_
39 
40 #include "ompl/base/OptimizationObjective.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
51  {
52  public:
63  StateCostIntegralObjective(const SpaceInformationPtr &si, bool enableMotionCostInterpolation = false);
64 
66  Cost stateCost(const State *s) const override;
67 
85  Cost motionCost(const State *s1, const State *s2) const override;
86 
93 
94  protected:
103 
108  Cost trapezoid(Cost c1, Cost c2, double dist) const
109  {
110  return Cost(0.5 * dist * (c1.value() + c2.value()));
111  }
112  };
113  }
114 }
115 
116 #endif
StateCostIntegralObjective(const SpaceInformationPtr &si, bool enableMotionCostInterpolation=false)
If enableMotionCostInterpolation is set to true, then calls to motionCost() will divide the motion se...
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
double value() const
The value of the cost.
Definition: Cost.h:56
Cost motionCost(const State *s1, const State *s2) const override
Compute the cost of a path segment from s1 to s2 (including endpoints)
Defines optimization objectives where path cost can be represented as a path integral over a cost fun...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
Abstract definition of optimization objectives.
Cost trapezoid(Cost c1, Cost c2, double dist) const
Helper method which uses the trapezoidal rule to approximate the integral of the cost between two sta...
Cost stateCost(const State *s) const override
Returns a cost with a value of 1.
bool isMotionCostInterpolationEnabled() const
Returns whether this objective subdivides motions into smaller segments for more accurate motion cost...
bool interpolateMotionCost_
If true, then motionCost() will more accurately compute the cost of a motion by taking small steps al...
Main namespace. Contains everything in this library.
Definition: AppBase.h:22