ompl/base/objectives/src/PathLengthOptimizationObjective.cpp
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00034 
00035 /* Author: Luis G. Torres */
00036 
00037 #include "ompl/base/objectives/PathLengthOptimizationObjective.h"
00038 
00039 ompl::base::PathLengthOptimizationObjective::
00040 PathLengthOptimizationObjective(const SpaceInformationPtr &si) :
00041     ompl::base::OptimizationObjective(si)
00042 {
00043     description_ = "Path Length";
00044 }
00045 
00046 ompl::base::Cost ompl::base::PathLengthOptimizationObjective::stateCost(const State *s) const
00047 {
00048     return identityCost();
00049 }
00050 
00051 ompl::base::Cost ompl::base::PathLengthOptimizationObjective::motionCost(const State *s1, const State *s2) const
00052 {
00053     return Cost(si_->distance(s1, s2));
00054 }
00055 
00056 ompl::base::Cost ompl::base::PathLengthOptimizationObjective::motionCostHeuristic(const State *s1, const State *s2) const
00057 {
00058     return motionCost(s1, s2);
00059 }
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