ControlDurationObjective.h

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/* Author: Wolfgang Hönig */
 
#ifndef OMPL_BASE_OBJECTIVES_CONTROL_DURATION_OPTIMIZATION_OBJECTIVE_
#define OMPL_BASE_OBJECTIVES_CONTROL_DURATION_OPTIMIZATION_OBJECTIVE_
 
#include "ompl/base/OptimizationObjective.h"
#include "ompl/control/SpaceInformation.h"
 
namespace ompl
{
    namespace base
    {
        class ControlDurationObjective : public OptimizationObjective
        {
        public:
            ControlDurationObjective(const control::SpaceInformationPtr &si);
 
            Cost stateCost(const State *s) const override;
 
            Cost motionCost(const State *s1, const State *s2) const override;
 
            Cost controlCost(const control::Control *c, unsigned int steps) const override;
 
        protected:
            double dt_;
        };
    }
}
 
#endif