VFMechanicalWorkOptimizationObjective.h
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34 
35 /* Authors: Caleb Voss, Wilson Beebe */
36 
37 #ifndef OMPL_BASE_OBJECTIVES_VF_MECHANICAL_WORK_OPTIMIZATION_OBJECTIVE_
38 #define OMPL_BASE_OBJECTIVES_VF_MECHANICAL_WORK_OPTIMIZATION_OBJECTIVE_
39 
40 #include <utility>
41 
42 #include "ompl/base/objectives/MechanicalWorkOptimizationObjective.h"
43 #include "ompl/geometric/planners/rrt/VFRRT.h"
44 
45 namespace ompl
46 {
47  namespace base
48  {
53  {
54  public:
57  geometric::VFRRT::VectorField vf)
58  : ompl::base::MechanicalWorkOptimizationObjective(si), vf_(std::move(vf))
59  {
60  }
61 
63  bool isSatisfied(ompl::base::Cost c) const override
64  {
65  return false;
66  }
67 
69  ompl::base::Cost motionCost(const ompl::base::State *s1, const ompl::base::State *s2) const override
70  {
71  const base::StateSpacePtr &space = si_->getStateSpace();
72  // Per equation 7 in the paper
73  Eigen::VectorXd f = vf_(s2);
74  unsigned int vfdim = f.size();
75  Eigen::VectorXd qprime(vfdim);
76 
77  for (unsigned int i = 0; i < vfdim; i++)
78  qprime[i] = *space->getValueAddressAtIndex(s2, i) - *space->getValueAddressAtIndex(s1, i);
79 
80  // Don't included negative work
81  double positiveCostAccrued = std::max(-(f.dot(qprime)), 0.);
82  return ompl::base::Cost(positiveCostAccrued + pathLengthWeight_ * si_->distance(s1, s2));
83  }
84 
85  bool isSymmetric() const override
86  {
87  return false;
88  }
89 
90  protected:
92  geometric::VFRRT::VectorField vf_;
93  };
94  }
95 }
96 
97 #endif
bool isSymmetric() const override
Check if this objective has a symmetric cost metric, i.e. motionCost(s1, s2) = motionCost(s2, s1). Default implementation returns whether the underlying state space has symmetric interpolation.
A shared pointer wrapper for ompl::base::StateSpace.
An optimization objective which defines path cost using the idea of mechanical work. To be used in conjunction with TRRT.
STL namespace.
VFMechanicalWorkOptimizationObjective(const ompl::base::SpaceInformationPtr &si, geometric::VFRRT::VectorField vf)
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
A shared pointer wrapper for ompl::base::SpaceInformation.
ompl::base::Cost motionCost(const ompl::base::State *s1, const ompl::base::State *s2) const override
Definition of an abstract state.
Definition: State.h:49
double pathLengthWeight_
The weighing factor for the path length in the mechanical work objective formulation.
SpaceInformationPtr si_
The space information for this objective.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47