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VFMechanicalWorkOptimizationObjective.h
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34
35/* Authors: Caleb Voss, Wilson Beebe */
36
37#ifndef OMPL_BASE_OBJECTIVES_VF_MECHANICAL_WORK_OPTIMIZATION_OBJECTIVE_
38#define OMPL_BASE_OBJECTIVES_VF_MECHANICAL_WORK_OPTIMIZATION_OBJECTIVE_
39
40#include <utility>
41
42#include "ompl/base/objectives/MechanicalWorkOptimizationObjective.h"
43#include "ompl/geometric/planners/rrt/VFRRT.h"
44
45namespace ompl
46{
47 namespace base
48 {
53 {
54 public:
56 VFMechanicalWorkOptimizationObjective(const ompl::base::SpaceInformationPtr &si,
57 geometric::VFRRT::VectorField vf)
59 {
60 }
61
63 bool isSatisfied(ompl::base::Cost) const override
64 {
65 return false;
66 }
67
70 {
71 const base::StateSpacePtr &space = si_->getStateSpace();
72 // Per equation 7 in the paper
73 Eigen::VectorXd f = vf_(s2);
74 unsigned int vfdim = f.size();
75 Eigen::VectorXd qprime(vfdim);
76
77 for (unsigned int i = 0; i < vfdim; i++)
78 qprime[i] = *space->getValueAddressAtIndex(s2, i) - *space->getValueAddressAtIndex(s1, i);
79
80 // Don't included negative work
81 double positiveCostAccrued = std::max(-(f.dot(qprime)), 0.);
82 return ompl::base::Cost(positiveCostAccrued + pathLengthWeight_ * si_->distance(s1, s2));
83 }
84
85 bool isSymmetric() const override
86 {
87 return false;
88 }
89
90 protected:
92 geometric::VFRRT::VectorField vf_;
93 };
94 }
95}
96
97#endif
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
An optimization objective which defines path cost using the idea of mechanical work....
MechanicalWorkOptimizationObjective(const SpaceInformationPtr &si, double pathLengthWeight=0.00001)
The mechanical work formulation requires a weighing factor to use for the length of a path in order t...
double pathLengthWeight_
The weighing factor for the path length in the mechanical work objective formulation.
SpaceInformationPtr si_
The space information for this objective.
Definition of an abstract state.
Definition State.h:50
ompl::base::Cost motionCost(const ompl::base::State *s1, const ompl::base::State *s2) const override
VFMechanicalWorkOptimizationObjective(const ompl::base::SpaceInformationPtr &si, geometric::VFRRT::VectorField vf)
bool isSymmetric() const override
Check if this objective has a symmetric cost metric, i.e. motionCost(s1, s2) = motionCost(s2,...
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Main namespace. Contains everything in this library.
STL namespace.