ControlDurationObjective.cpp

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/* Author: Wolfgang Hönig */
 
#include "ompl/base/objectives/ControlDurationObjective.h"
 
ompl::base::ControlDurationObjective::ControlDurationObjective(const control::SpaceInformationPtr &si)
  : OptimizationObjective(si)
{
    description_ = "Control Duration";
    dt_ = si->getPropagationStepSize();
}
 
ompl::base::Cost ompl::base::ControlDurationObjective::stateCost(const State *) const
{
    return Cost(0.0);
}
 
ompl::base::Cost ompl::base::ControlDurationObjective::motionCost(const State *, const State *) const
{
    return Cost(0.0);
}
 
ompl::base::Cost ompl::base::ControlDurationObjective::controlCost(const control::Control *,
                                                                     unsigned int steps) const
{
    return Cost(steps * dt_);
}