CostConvergenceTerminationCondition.h
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34 
35 /* Author: Henning Kayser, Mark Moll */
36 
37 #ifndef OMPL_BASE_COST_CONVERGENCE_TERMINATION_CONDITION_
38 #define OMPL_BASE_COST_CONVERGENCE_TERMINATION_CONDITION_
39 
40 #include "ompl/base/PlannerTerminationCondition.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
47  class CostConvergenceTerminationCondition : public PlannerTerminationCondition
48  {
49  public:
58  CostConvergenceTerminationCondition(ProblemDefinitionPtr &pdef, size_t solutionsWindow = 10,
59  double epsilon = 0.1);
60 
61  // Compute the running average cost of the last solutions (solutionWindow)
62  // and terminate if the cost of a new solution is worse than
63  // convergenceThreshold times the average cost.
64  void processNewSolution(const Cost solutionCost);
65 
66  private:
70  double averageCost_{0.};
72  size_t solutions_{0};
73 
75  const size_t solutionsWindow_;
78  const double epsilon_;
79  };
80  } // namespace base
81 } // namespace ompl
82 
83 #endif
CostConvergenceTerminationCondition(ProblemDefinitionPtr &pdef, size_t solutionsWindow=10, double epsilon=0.1)
Constructor.
A shared pointer wrapper for ompl::base::ProblemDefinition.
Main namespace. Contains everything in this library.