ControlDurationObjective.h
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34 
35 /* Author: Wolfgang Hönig */
36 
37 #ifndef OMPL_BASE_OBJECTIVES_CONTROL_DURATION_OPTIMIZATION_OBJECTIVE_
38 #define OMPL_BASE_OBJECTIVES_CONTROL_DURATION_OPTIMIZATION_OBJECTIVE_
39 
40 #include "ompl/base/OptimizationObjective.h"
41 #include "ompl/control/SpaceInformation.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
50  class ControlDurationObjective : public OptimizationObjective
51  {
52  public:
54  ControlDurationObjective(const control::SpaceInformationPtr &si);
55 
57  Cost stateCost(const State *s) const override;
58 
60  Cost motionCost(const State *s1, const State *s2) const override;
61 
63  Cost controlCost(const control::Control *c, unsigned int steps) const override;
64 
65  protected:
67  double dt_;
68  };
69  }
70 }
71 
72 #endif
Cost motionCost(const State *s1, const State *s2) const override
Returns a cost with a value of 0.
Cost controlCost(const control::Control *c, unsigned int steps) const override
Returns the cost with the value of steps*dt.
ControlDurationObjective(const control::SpaceInformationPtr &si)
Requires a control::SpaceInformationPtr to access dt.
Cost stateCost(const State *s) const override
Returns a cost with a value of 0.
double dt_
Duration of each control step.
Main namespace. Contains everything in this library.