MinimizeArrivalTime.cpp

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/* Author: Francesco Grothe */
 
#include "ompl/base/objectives/MinimizeArrivalTime.h"
 
ompl::base::MinimizeArrivalTime::MinimizeArrivalTime(const ompl::base::SpaceInformationPtr &si)
  : OptimizationObjective(si) {}
 
ompl::base::Cost ompl::base::MinimizeArrivalTime::stateCost(const ompl::base::State *s) const
{
    return base::Cost(s->as<base::CompoundState>()->as<base::TimeStateSpace::StateType>(1)->position);
}
 
ompl::base::Cost ompl::base::MinimizeArrivalTime::motionCost(const ompl::base::State *s1,
                                                             const ompl::base::State *s2) const
{
    return combineCosts(stateCost(s1), stateCost(s2));
}
 
ompl::base::Cost ompl::base::MinimizeArrivalTime::combineCosts(ompl::base::Cost c1, ompl::base::Cost c2) const
{
    return c1.value() > c2.value() ? c1 : c2;
}
 
ompl::base::Cost ompl::base::MinimizeArrivalTime::identityCost() const
{
    return base::Cost(-std::numeric_limits<double>::infinity());
}