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MinimizeArrivalTime.h
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34
35/* Author: Francesco Grothe */
36
37#ifndef OMPL_MINIMIZEARRIVALTIME_H
38#define OMPL_MINIMIZEARRIVALTIME_H
39
40#include "ompl/base/OptimizationObjective.h"
41#include "ompl/base/spaces/TimeStateSpace.h"
42
43namespace ompl
44{
45 namespace base
46 {
49 class MinimizeArrivalTime : public OptimizationObjective
50 {
51 public:
52 MinimizeArrivalTime(const SpaceInformationPtr &si);
53
54 private:
56 base::Cost stateCost(const ompl::base::State *s) const override;
57
59 base::Cost motionCost(const ompl::base::State *s1, const ompl::base::State *s2) const override;
60
62 base::Cost combineCosts(ompl::base::Cost c1, ompl::base::Cost c2) const override;
63
65 base::Cost identityCost() const override;
66 };
67 }
68}
69
70
71
72#endif // OMPL_MINIMIZEARRIVALTIME_H
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
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.