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CostConvergenceTerminationCondition.cpp
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34
35/* Author: Henning Kayser, Mark Moll */
36
37#include "ompl/base/terminationconditions/CostConvergenceTerminationCondition.h"
38
40 ompl::base::ProblemDefinitionPtr &pdef, size_t solutionsWindow, double epsilon)
42 pdef_(pdef),
43 solutionsWindow_(solutionsWindow),
44 epsilon_(epsilon)
45{
46 auto& c = *this;
47 pdef_->setIntermediateSolutionCallback(
48 [c](const Planner* /*planner*/, const std::vector<const State*>& /*states*/, const Cost cost) mutable {
49 c.processNewSolution(cost);
50 });
51}
52
53void ompl::base::CostConvergenceTerminationCondition::processNewSolution(const ompl::base::Cost solutionCost)
54{
55 ++solutions_;
56 size_t solutions = std::min(solutions_, solutionsWindow_);
57 double newCost = ((solutions - 1) * averageCost_ + solutionCost.value()) / solutions;
58 double costLowerThreshold = (1. - epsilon_) * averageCost_;
59 double costUpperThreshold = (1. + epsilon_) * averageCost_;
60 averageCost_ = newCost;
61
62 if (solutions == solutionsWindow_ &&
63 averageCost_ > costLowerThreshold &&
64 averageCost_ < costUpperThreshold)
65 {
66 OMPL_DEBUG("CostConvergenceTerminationCondition: Cost of optimizing planner converged after %lu solutions", solutions_);
67 terminate();
68 }
69}
CostConvergenceTerminationCondition(ProblemDefinitionPtr &pdef, size_t solutionsWindow=10, double epsilon=0.1)
Constructor.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
double value() const
The value of the cost.
Definition Cost.h:56
PlannerTerminationCondition(const PlannerTerminationConditionFn &fn)
Construct a termination condition. By default, eval() will call the externally specified function fn ...
Base class for a planner.
Definition Planner.h:216
#define OMPL_DEBUG(fmt,...)
Log a formatted debugging string.
Definition Console.h:70
This namespace contains sampling based planning routines shared by both planning under geometric cons...
PlannerTerminationCondition plannerNonTerminatingCondition()
Simple termination condition that always returns false. The termination condition will never be met.
Main namespace. Contains everything in this library.