VFUpstreamCriterionOptimizationObjective.h
Definition: VFUpstreamCriterionOptimizationObjective.h:53
SpaceInformationPtr si_
The space information for this objective.
Definition: OptimizationObjective.h:181
A shared pointer wrapper for ompl::base::SpaceInformation.
ompl::base::Cost motionCost(const State *s1, const State *s2) const override
Definition: VFUpstreamCriterionOptimizationObjective.h:76
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.
Definition: OptimizationObjective.h:71
Cost stateCost(const State *) const override
Returns a cost with a value of 0.
Definition: VFUpstreamCriterionOptimizationObjective.h:70
std::string description_
The description of this optimization objective.
Definition: OptimizationObjective.h:184
VFUpstreamCriterionOptimizationObjective(const ompl::base::SpaceInformationPtr &si, geometric::VFRRT::VectorField vf)
Definition: VFUpstreamCriterionOptimizationObjective.h:56
bool isSatisfied(ompl::base::Cost) const override
Definition: VFUpstreamCriterionOptimizationObjective.h:64
bool isSymmetric() const override
Check if this objective has a symmetric cost metric, i.e. motionCost(s1, s2) = motionCost(s2,...
Definition: VFUpstreamCriterionOptimizationObjective.h:100
geometric::VFRRT::VectorField vf_
Definition: VFUpstreamCriterionOptimizationObjective.h:107