VFUpstreamCriterionOptimizationObjective.h
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34 
35 /* Authors: Caleb Voss, Wilson Beebe */
36 
37 #ifndef OMPL_BASE_OBJECTIVES_VF_UPSTREAM_CRITERION_OPTIMIZATION_OBJECTIVE_
38 #define OMPL_BASE_OBJECTIVES_VF_UPSTREAM_CRITERION_OPTIMIZATION_OBJECTIVE_
39 
40 #include <utility>
41 
42 #include "ompl/base/OptimizationObjective.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::OptimizationObjective(si), vf_(std::move(vf))
59  {
60  description_ = "Upstream Criterion";
61  }
62 
64  bool isSatisfied(ompl::base::Cost c) const override
65  {
66  return false;
67  }
68 
70  Cost stateCost(const State *s) const override
71  {
72  return Cost(0.);
73  }
74 
76  ompl::base::Cost motionCost(const State *s1, const State *s2) const override
77  {
78  const base::StateSpacePtr &space = si_->getStateSpace();
79  // Per equation 1 in the paper, Riemann approximation on the left
80  unsigned int vfdim = space->getValueLocations().size();
81  Eigen::VectorXd qprime(vfdim);
82  unsigned int numSegments = space->validSegmentCount(s1, s2);
83  std::vector<ompl::base::State *> interp;
84 
85  for (unsigned int i = 0; i < vfdim; i++)
86  qprime[i] = *space->getValueAddressAtIndex(s2, i) - *space->getValueAddressAtIndex(s1, i);
87  qprime.normalize();
88  si_->getMotionStates(s1, s2, interp, numSegments - 1, true, true);
89  double cost = 0;
90  for (unsigned int i = 0; i < interp.size() - 1; i++)
91  {
92  Eigen::VectorXd f = vf_(interp[i]);
93  cost += si_->distance(interp[i], interp[i + 1]) * (f.norm() - f.dot(qprime));
94  si_->freeState(interp[i]);
95  }
96  si_->freeState(interp[interp.size() - 1]);
97  return ompl::base::Cost(cost);
98  }
99 
100  bool isSymmetric() const override
101  {
102  return false;
103  }
104 
105  protected:
107  geometric::VFRRT::VectorField vf_;
108  };
109  }
110 }
111 
112 #endif
Cost stateCost(const State *s) const override
Returns a cost with a value of 0.
std::string description_
The description of this optimization objective.
A shared pointer wrapper for ompl::base::StateSpace.
STL namespace.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
A shared pointer wrapper for ompl::base::SpaceInformation.
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.
Definition of an abstract state.
Definition: State.h:49
Abstract definition of optimization objectives.
VFUpstreamCriterionOptimizationObjective(const ompl::base::SpaceInformationPtr &si, geometric::VFRRT::VectorField vf)
ompl::base::Cost motionCost(const State *s1, const State *s2) const override
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