ompl/base/objectives/StateCostIntegralObjective.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2010, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Luis G. Torres */
00036 
00037 #ifndef OMPL_BASE_OBJECTIVES_STATE_COST_OPTIMIZATION_OBJECTIVE_
00038 #define OMPL_BASE_OBJECTIVES_STATE_COST_OPTIMIZATION_OBJECTIVE_
00039 
00040 #include "ompl/base/OptimizationObjective.h"
00041 
00042 namespace ompl
00043 {
00044     namespace base
00045     {
00046 
00051         class StateCostIntegralObjective : public OptimizationObjective
00052         {
00053         public:
00064             StateCostIntegralObjective(const SpaceInformationPtr &si,
00065                                        bool enableMotionCostInterpolation = false);
00066 
00068             virtual Cost stateCost(const State *s) const;
00069 
00087             virtual Cost motionCost(const State *s1, const State *s2) const;
00088 
00094             bool isMotionCostInterpolationEnabled() const;
00095 
00096         protected:
00097 
00105             bool interpolateMotionCost_;
00106 
00111             Cost trapezoid(Cost c1, Cost c2, double dist) const
00112             {
00113                 return Cost(0.5 * dist * (c1.value() + c2.value()));
00114             }
00115         };
00116     }
00117 }
00118 
00119 #endif
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines