MinimizeArrivalTime.h

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/* Author: Francesco Grothe */
 
#ifndef OMPL_MINIMIZEARRIVALTIME_H
#define OMPL_MINIMIZEARRIVALTIME_H
 
#include "ompl/base/OptimizationObjective.h"
#include "ompl/base/spaces/TimeStateSpace.h"
 
namespace ompl
{
    namespace base
    {
        class MinimizeArrivalTime : public OptimizationObjective
        {
        public:
            MinimizeArrivalTime(const SpaceInformationPtr &si);
 
        private:
            base::Cost stateCost(const ompl::base::State *s) const override;

            base::Cost motionCost(const ompl::base::State *s1, const ompl::base::State *s2) const override;

            base::Cost combineCosts(ompl::base::Cost c1, ompl::base::Cost c2) const override;

            base::Cost identityCost() const override;
        };
    }  // namespace base
}  // namespace ompl
 
#endif  // OMPL_MINIMIZEARRIVALTIME_H