MechanicalWorkOptimizationObjective.h

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/* Author: Luis G. Torres */
 
#ifndef OMPL_BASE_OBJECTIVES_MECHANICAL_WORK_OPTIMIZATION_OBJECTIVE_
#define OMPL_BASE_OBJECTIVES_MECHANICAL_WORK_OPTIMIZATION_OBJECTIVE_
 
#include "ompl/base/OptimizationObjective.h"
 
namespace ompl
{
    namespace base
    {
        class MechanicalWorkOptimizationObjective : public OptimizationObjective
        {
        public:
            MechanicalWorkOptimizationObjective(const SpaceInformationPtr &si, double pathLengthWeight = 0.00001);

            virtual double getPathLengthWeight() const;

            Cost stateCost(const State *s) const override;

            Cost motionCost(const State *s1, const State *s2) const override;
 
        protected:
            double pathLengthWeight_;
        };
    }  // namespace base
}  // namespace ompl
 
#endif