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MechanicalWorkOptimizationObjective.h
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34
35/* Author: Luis G. Torres */
36
37#ifndef OMPL_BASE_OBJECTIVES_MECHANICAL_WORK_OPTIMIZATION_OBJECTIVE_
38#define OMPL_BASE_OBJECTIVES_MECHANICAL_WORK_OPTIMIZATION_OBJECTIVE_
39
40#include "ompl/base/OptimizationObjective.h"
41
42namespace ompl
43{
44 namespace base
45 {
49 {
50 public:
54 MechanicalWorkOptimizationObjective(const SpaceInformationPtr &si, double pathLengthWeight = 0.00001);
55
57 virtual double getPathLengthWeight() const;
58
60 Cost stateCost(const State *s) const override;
61
63 Cost motionCost(const State *s1, const State *s2) const override;
64
65 protected:
68 };
69 }
70}
71
72#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....
Cost motionCost(const State *s1, const State *s2) const override
Defines motion cost in terms of the mechanical work formulation used for TRRT.
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...
virtual double getPathLengthWeight() const
Set the factor to use for weighing path length in the mechanical work objective formulation.
double pathLengthWeight_
The weighing factor for the path length in the mechanical work objective formulation.
Cost stateCost(const State *s) const override
Returns a cost with a value of 1.
Abstract definition of optimization objectives.
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
Main namespace. Contains everything in this library.