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
bool interpolateMotionCost_
If true, then motionCost() will more accurately compute the cost of a motion by taking small steps al...
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)
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Defines optimization objectives where path cost can be represented as a path integral over a cost fun...
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...
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