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MinimizeArrivalTime.cpp
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34
35/* Author: Francesco Grothe */
36
37#include "ompl/base/objectives/MinimizeArrivalTime.h"
38
39ompl::base::MinimizeArrivalTime::MinimizeArrivalTime(const ompl::base::SpaceInformationPtr &si)
40 : OptimizationObjective(si) {}
41
42ompl::base::Cost ompl::base::MinimizeArrivalTime::stateCost(const ompl::base::State *s) const
43{
44 return base::Cost(s->as<base::CompoundState>()->as<base::TimeStateSpace::StateType>(1)->position);
45}
46
47ompl::base::Cost ompl::base::MinimizeArrivalTime::motionCost(const ompl::base::State *s1,
48 const ompl::base::State *s2) const
49{
50 return combineCosts(stateCost(s1), stateCost(s2));
51}
52
53ompl::base::Cost ompl::base::MinimizeArrivalTime::combineCosts(ompl::base::Cost c1, ompl::base::Cost c2) const
54{
55 return c1.value() > c2.value() ? c1 : c2;
56}
57
58ompl::base::Cost ompl::base::MinimizeArrivalTime::identityCost() const
59{
60 return base::Cost(-std::numeric_limits<double>::infinity());
61}
62
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
ompl::base::State StateType
Define the type of state allocated by this space.
Definition StateSpace.h:78
Definition of an abstract state.
Definition State.h:50