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VFUpstreamCriterionOptimizationObjective.h
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34
35/* Authors: Caleb Voss, Wilson Beebe */
36
37#ifndef OMPL_BASE_OBJECTIVES_VF_UPSTREAM_CRITERION_OPTIMIZATION_OBJECTIVE_
38#define OMPL_BASE_OBJECTIVES_VF_UPSTREAM_CRITERION_OPTIMIZATION_OBJECTIVE_
39
40#include <utility>
41
42#include "ompl/base/OptimizationObjective.h"
43#include "ompl/geometric/planners/rrt/VFRRT.h"
44
45namespace ompl
46{
47 namespace base
48 {
53 {
54 public:
57 geometric::VFRRT::VectorField vf)
58 : ompl::base::OptimizationObjective(si), vf_(std::move(vf))
59 {
60 description_ = "Upstream Criterion";
61 }
62
64 bool isSatisfied(ompl::base::Cost) const override
65 {
66 return false;
67 }
68
70 Cost stateCost(const State *) const override
71 {
72 return Cost(0.);
73 }
74
76 ompl::base::Cost motionCost(const State *s1, const State *s2) const override
77 {
78 const base::StateSpacePtr &space = si_->getStateSpace();
79 // Per equation 1 in the paper, Riemann approximation on the left
80 unsigned int vfdim = space->getValueLocations().size();
81 Eigen::VectorXd qprime(vfdim);
82 unsigned int numSegments = space->validSegmentCount(s1, s2);
83 std::vector<ompl::base::State *> interp;
84
85 for (unsigned int i = 0; i < vfdim; i++)
86 qprime[i] = *space->getValueAddressAtIndex(s2, i) - *space->getValueAddressAtIndex(s1, i);
87 qprime.normalize();
88 si_->getMotionStates(s1, s2, interp, numSegments - 1, true, true);
89 double cost = 0;
90 for (unsigned int i = 0; i < interp.size() - 1; i++)
91 {
92 Eigen::VectorXd f = vf_(interp[i]);
93 cost += si_->distance(interp[i], interp[i + 1]) * (f.norm() - f.dot(qprime));
94 si_->freeState(interp[i]);
95 }
96 si_->freeState(interp[interp.size() - 1]);
97 return ompl::base::Cost(cost);
98 }
99
100 bool isSymmetric() const override
101 {
102 return false;
103 }
104
105 protected:
107 geometric::VFRRT::VectorField vf_;
108 };
109 }
110}
111
112#endif
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
Abstract definition of optimization objectives.
std::string description_
The description of this optimization objective.
SpaceInformationPtr si_
The space information for this objective.
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
VFUpstreamCriterionOptimizationObjective(const ompl::base::SpaceInformationPtr &si, geometric::VFRRT::VectorField vf)
Cost stateCost(const State *) const override
Returns a cost with a value of 0.
ompl::base::Cost motionCost(const State *s1, const State *s2) const override
bool isSymmetric() const override
Check if this objective has a symmetric cost metric, i.e. motionCost(s1, s2) = motionCost(s2,...
Main namespace. Contains everything in this library.
STL namespace.