CostConvergenceTerminationCondition.h

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/* Author: Henning Kayser, Mark Moll */
 
#ifndef OMPL_BASE_COST_CONVERGENCE_TERMINATION_CONDITION_
#define OMPL_BASE_COST_CONVERGENCE_TERMINATION_CONDITION_
 
#include "ompl/base/PlannerTerminationCondition.h"
 
namespace ompl
{
    namespace base
    {
        class CostConvergenceTerminationCondition : public PlannerTerminationCondition
        {
        public:
            CostConvergenceTerminationCondition(ProblemDefinitionPtr &pdef, size_t solutionsWindow = 10,
                                                double epsilon = 0.1);
 
            // Compute the running average cost of the last solutions (solutionWindow)
            // and terminate if the cost of a new solution is worse than
            // convergenceThreshold times the average cost.
            void processNewSolution(const Cost solutionCost);
 
        private:
            ProblemDefinitionPtr pdef_;
            double averageCost_{0.};
            size_t solutions_{0};
 
            const size_t solutionsWindow_;
            const double epsilon_;
        };
    }  // namespace base
}  // namespace ompl
 
#endif