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ControlDurationObjective.cpp
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34
35/* Author: Wolfgang Hönig */
36
37#include "ompl/base/objectives/ControlDurationObjective.h"
38
40 : OptimizationObjective(si)
41{
42 description_ = "Control Duration";
43 dt_ = si->getPropagationStepSize();
44}
45
50
55
57 unsigned int steps) const
58{
59 return Cost(steps * dt_);
60}
Cost controlCost(const control::Control *c, unsigned int steps) const override
Returns the cost with the value of steps*dt.
Cost stateCost(const State *s) const override
Returns a cost with a value of 0.
double dt_
Duration of each control step.
Cost motionCost(const State *s1, const State *s2) const override
Returns a cost with a value of 0.
ControlDurationObjective(const control::SpaceInformationPtr &si)
Requires a control::SpaceInformationPtr to access dt.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
std::string description_
The description of this optimization objective.
Definition of an abstract state.
Definition State.h:50
Definition of an abstract control.
Definition Control.h:48