PathLengthOptimizationObjective.h
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34 
35 /* Author: Luis G. Torres, Jonathan Gammell (allocInformedStateSampler) */
36 
37 #ifndef OMPL_BASE_OBJECTIVES_PATH_LENGTH_OPTIMIZATION_OBJECTIVE_
38 #define OMPL_BASE_OBJECTIVES_PATH_LENGTH_OPTIMIZATION_OBJECTIVE_
39 
40 #include "ompl/base/OptimizationObjective.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
47  class PathLengthOptimizationObjective : public OptimizationObjective
48  {
49  public:
50  PathLengthOptimizationObjective(const SpaceInformationPtr &si);
51 
53  Cost stateCost(const State *s) const override;
54 
58  Cost motionCost(const State *s1, const State *s2) const override;
59 
64  Cost motionCostHeuristic(const State *s1, const State *s2) const override;
65 
67  InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr &probDefn,
68  unsigned int maxNumberCalls) const override;
69  };
70  }
71 }
72 
73 #endif
A shared pointer wrapper for ompl::base::SpaceInformation.
Cost stateCost(const State *s) const override
Returns identity cost.
Cost motionCostHeuristic(const State *s1, const State *s2) const override
the motion cost heuristic for this objective is simply the configuration space distance between s1 an...
A shared pointer wrapper for ompl::base::ProblemDefinition.
Cost motionCost(const State *s1, const State *s2) const override
Motion cost for this objective is defined as the configuration space distance between s1 and s2,...
InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls) const override
Allocate a state sampler for the path-length objective (i.e., direct ellipsoidal sampling).
Main namespace. Contains everything in this library.