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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 pdef_->setIntermediateSolutionCallback(
47 [this](const Planner* /*planner*/, const std::vector<const State*>& /*states*/, const Cost cost) {
48 this->processNewSolution(cost);
49 });
50}
51
52void ompl::base::CostConvergenceTerminationCondition::processNewSolution(const ompl::base::Cost solutionCost)
53{
54 ++solutions_;
55 size_t solutions = std::min(solutions_, solutionsWindow_);
56 double newCost = ((solutions - 1) * averageCost_ + solutionCost.value()) / solutions;
57 double costLowerThreshold = (1. - epsilon_) * averageCost_;
58 double costUpperThreshold = (1. + epsilon_) * averageCost_;
59 averageCost_ = newCost;
60
61 if (solutions == solutionsWindow_ &&
62 averageCost_ > costLowerThreshold &&
63 averageCost_ < costUpperThreshold)
64 {
65 OMPL_DEBUG("CostConvergenceTerminationCondition: Cost of optimizing planner converged after %lu solutions", solutions_);
66 terminate();
67 }
68}
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
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Base class for a planner.
Definition Planner.h:223
A shared pointer wrapper for ompl::base::ProblemDefinition.
#define OMPL_DEBUG(fmt,...)
Log a formatted debugging string.
Definition Console.h:70
PlannerTerminationCondition plannerNonTerminatingCondition()
Simple termination condition that always returns false. The termination condition will never be met.
Main namespace. Contains everything in this library.