OptimizationObjective.cpp
46 ompl::base::OptimizationObjective::OptimizationObjective(SpaceInformationPtr si) : si_(std::move(si)), threshold_(0.0)
121 ompl::base::Cost ompl::base::OptimizationObjective::averageStateCost(unsigned int numStates) const
148 ompl::base::Cost ompl::base::OptimizationObjective::costToGo(const State *state, const Goal *goal) const
156 ompl::base::Cost ompl::base::OptimizationObjective::motionCostHeuristic(const State *, const State *) const
161 const ompl::base::SpaceInformationPtr &ompl::base::OptimizationObjective::getSpaceInformation() const
169 OMPL_INFORM("%s: No direct informed sampling scheme is defined, defaulting to rejection sampling.",
189 ompl::base::MultiOptimizationObjective::MultiOptimizationObjective(const SpaceInformationPtr &si)
194 ompl::base::MultiOptimizationObjective::Component::Component(OptimizationObjectivePtr obj, double weight)
199 void ompl::base::MultiOptimizationObjective::addObjective(const OptimizationObjectivePtr &objective, double weight)
214 const ompl::base::OptimizationObjectivePtr &ompl::base::MultiOptimizationObjective::getObjective(unsigned int idx) const
228 void ompl::base::MultiOptimizationObjective::setObjectiveWeight(unsigned int idx, double weight)
257 ompl::base::Cost ompl::base::MultiOptimizationObjective::motionCost(const State *s1, const State *s2) const
306 ompl::base::OptimizationObjectivePtr ompl::base::operator*(double weight, const OptimizationObjectivePtr &a)
330 ompl::base::OptimizationObjectivePtr ompl::base::operator*(const OptimizationObjectivePtr &a, double weight)
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
This class allows for the definition of multiobjective optimal planning problems. Objectives are adde...
Definition: OptimizationObjective.h:208
const OptimizationObjectivePtr & getObjective(unsigned int idx) const
Returns a specific objective from this multiobjective, where the individual objectives are in order o...
Definition: OptimizationObjective.cpp:214
void setObjectiveWeight(unsigned int idx, double weight)
Sets the weighing factor of a specific objective.
Definition: OptimizationObjective.cpp:228
std::size_t getObjectiveCount() const
Returns the number of objectives that make up this multiobjective.
Definition: OptimizationObjective.cpp:209
Cost stateCost(const State *s) const override
Definition: OptimizationObjective.cpp:246
double getObjectiveWeight(unsigned int idx) const
Returns the weighing factor of a specific objective.
Definition: OptimizationObjective.cpp:221
bool isLocked() const
Returns whether this multiobjective has been locked from adding further objectives.
Definition: OptimizationObjective.cpp:241
void addObjective(const OptimizationObjectivePtr &objective, double weight)
Adds a new objective for this multiobjective. A weight must also be specified for specifying importan...
Definition: OptimizationObjective.cpp:199
Cost motionCost(const State *s1, const State *s2) const override
Definition: OptimizationObjective.cpp:257
void lock()
This method "freezes" this multiobjective so that no more objectives can be added to it.
Definition: OptimizationObjective.cpp:236
A shared pointer wrapper for ompl::base::OptimizationObjective.
Cost costToGo(const State *state, const Goal *goal) const
Uses a cost-to-go heuristic to calculate an admissible estimate of the optimal cost from a given stat...
Definition: OptimizationObjective.cpp:148
void setCostThreshold(Cost c)
Set the cost threshold for objective satisfaction. When a path is found with a cost better than the c...
Definition: OptimizationObjective.cpp:65
virtual Cost averageStateCost(unsigned int numStates) const
Compute the average state cost of this objective by taking a sample of numStates states.
Definition: OptimizationObjective.cpp:121
bool hasCostToGoHeuristic() const
Check if this objective has a cost-to-go heuristic function.
Definition: OptimizationObjective.cpp:143
virtual bool isCostEquivalentTo(Cost c1, Cost c2) const
Compare whether cost c1 and cost c2 are equivalent. By default defined as !isCostBetterThan(c1,...
Definition: OptimizationObjective.cpp:75
virtual bool isFinite(Cost cost) const
Returns whether the cost is finite or not.
Definition: OptimizationObjective.cpp:81
void setCostToGoHeuristic(const CostToGoHeuristic &costToGo)
Set the cost-to-go heuristic function for this objective. The cost-to-go heuristic is a function whic...
Definition: OptimizationObjective.cpp:138
const SpaceInformationPtr & getSpaceInformation() const
Returns this objective's SpaceInformation. Needed for operators in MultiOptimizationObjective.
Definition: OptimizationObjective.cpp:161
virtual Cost motionCostHeuristic(const State *s1, const State *s2) const
Defines an admissible estimate on the optimal cost on the motion between states s1 and s2....
Definition: OptimizationObjective.cpp:156
virtual Cost identityCost() const
Get the identity cost value. The identity cost value is the cost c_i such that, for all costs c,...
Definition: OptimizationObjective.cpp:96
virtual Cost combineCosts(Cost c1, Cost c2) const
Get the cost that corresponds to combining the costs c1 and c2. Default implementation defines this c...
Definition: OptimizationObjective.cpp:91
virtual Cost terminalCost(const State *s) const
Returns a cost value corresponding to a path ending at a state s. No optimal planners currently suppo...
Definition: OptimizationObjective.cpp:111
virtual bool isCostBetterThan(Cost c1, Cost c2) const
Check whether the the cost c1 is considered better than the cost c2. By default, this returns true if...
Definition: OptimizationObjective.cpp:70
Cost getCostThreshold() const
Returns the cost threshold currently being checked for objective satisfaction.
Definition: OptimizationObjective.cpp:60
virtual bool isSatisfied(Cost c) const
Check if the the given cost c satisfies the specified cost objective, defined as better than the spec...
Definition: OptimizationObjective.cpp:55
virtual Cost betterCost(Cost c1, Cost c2) const
Return the minimum cost given c1 and c2. Uses isCostBetterThan.
Definition: OptimizationObjective.cpp:86
virtual bool isSymmetric() const
Check if this objective has a symmetric cost metric, i.e. motionCost(s1, s2) = motionCost(s2,...
Definition: OptimizationObjective.cpp:116
virtual Cost infiniteCost() const
Get a cost which is greater than all other costs in this OptimizationObjective; required for use in D...
Definition: OptimizationObjective.cpp:101
const std::string & getDescription() const
Get the description of this optimization objective.
Definition: OptimizationObjective.cpp:50
virtual Cost initialCost(const State *s) const
Returns a cost value corresponding to starting at a state s. No optimal planners currently support th...
Definition: OptimizationObjective.cpp:106
virtual void print(std::ostream &out) const
Print information about this optimization objective.
Definition: OptimizationObjective.cpp:174
virtual InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls) const
Allocate a heuristic-sampling state generator for this cost function, defaults to a basic rejection s...
Definition: OptimizationObjective.cpp:166
A shared pointer wrapper for ompl::base::ProblemDefinition.
A shared pointer wrapper for ompl::base::SpaceInformation.
A shared pointer wrapper for ompl::base::StateSampler.
Cost goalRegionCostToGo(const State *state, const Goal *goal)
For use when the cost-to-go of a state under the optimization objective is equivalent to the goal reg...
Definition: OptimizationObjective.cpp:180
std::function< Cost(const State *, const Goal *)> CostToGoHeuristic
The definition of a function which returns an admissible estimate of the optimal path cost from a giv...
Definition: OptimizationObjective.h:57
OptimizationObjectivePtr operator+(const OptimizationObjectivePtr &a, const OptimizationObjectivePtr &b)
Given two optimization objectives, returns a MultiOptimizationObjective that combines the two objecti...
Definition: OptimizationObjective.cpp:268
OptimizationObjectivePtr operator*(double weight, const OptimizationObjectivePtr &a)
Given a weighing factor and an optimization objective, returns a MultiOptimizationObjective containin...
Definition: OptimizationObjective.cpp:306