MinimizeArrivalTime.h
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34 
35 /* Author: Francesco Grothe */
36 
37 #ifndef OMPL_MINIMIZEARRIVALTIME_H
38 #define OMPL_MINIMIZEARRIVALTIME_H
39 
40 #include "ompl/base/OptimizationObjective.h"
41 #include "ompl/base/spaces/TimeStateSpace.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
49  class MinimizeArrivalTime : public OptimizationObjective
50  {
51  public:
52  MinimizeArrivalTime(const SpaceInformationPtr &si);
53 
54  private:
56  base::Cost stateCost(const ompl::base::State *s) const override;
57 
59  base::Cost motionCost(const ompl::base::State *s1, const ompl::base::State *s2) const override;
60 
62  base::Cost combineCosts(ompl::base::Cost c1, ompl::base::Cost c2) const override;
63 
65  base::Cost identityCost() const override;
66  };
67  }
68 }
69 
70 
71 
72 #endif // OMPL_MINIMIZEARRIVALTIME_H
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:113
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:111
Main namespace. Contains everything in this library.