StateCostIntegralObjective.h
63 StateCostIntegralObjective(const SpaceInformationPtr &si, bool enableMotionCostInterpolation = false);
114 }
StateCostIntegralObjective(const SpaceInformationPtr &si, bool enableMotionCostInterpolation=false)
If enableMotionCostInterpolation is set to true, then calls to motionCost() will divide the motion se...
Definition: StateCostIntegralObjective.cpp:39
A shared pointer wrapper for ompl::base::SpaceInformation.
Cost motionCost(const State *s1, const State *s2) const override
Compute the cost of a path segment from s1 to s2 (including endpoints)
Definition: StateCostIntegralObjective.cpp:51
Cost trapezoid(Cost c1, Cost c2, double dist) const
Helper method which uses the trapezoidal rule to approximate the integral of the cost between two sta...
Definition: StateCostIntegralObjective.h:204
Cost stateCost(const State *s) const override
Returns a cost with a value of 1.
Definition: StateCostIntegralObjective.cpp:46
bool isMotionCostInterpolationEnabled() const
Returns whether this objective subdivides motions into smaller segments for more accurate motion cost...
Definition: StateCostIntegralObjective.cpp:88
bool interpolateMotionCost_
If true, then motionCost() will more accurately compute the cost of a motion by taking small steps al...
Definition: StateCostIntegralObjective.h:198