PathLengthOptimizationObjective.h

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/* Author: Luis G. Torres, Jonathan Gammell (allocInformedStateSampler) */
 
#ifndef OMPL_BASE_OBJECTIVES_PATH_LENGTH_OPTIMIZATION_OBJECTIVE_
#define OMPL_BASE_OBJECTIVES_PATH_LENGTH_OPTIMIZATION_OBJECTIVE_
 
#include "ompl/base/OptimizationObjective.h"
 
namespace ompl
{
    namespace base
    {
        class PathLengthOptimizationObjective : public OptimizationObjective
        {
        public:
            PathLengthOptimizationObjective(const SpaceInformationPtr &si);
 
            Cost stateCost(const State *s) const override;
 
            Cost motionCost(const State *s1, const State *s2) const override;
 
            Cost motionCostHeuristic(const State *s1, const State *s2) const override;
 
            InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr &probDefn,
                                                         unsigned int maxNumberCalls) const override;
        };
    }
}
 
#endif