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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
42namespace 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
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls) const override
Allocate a state sampler for the path-length objective (i.e., direct ellipsoidal sampling).
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...
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,...
A shared pointer wrapper for ompl::base::ProblemDefinition.
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Main namespace. Contains everything in this library.