base::PathLengthOptimizationObjective Class Reference

An optimization objective which corresponds to optimizing path length. More...

#include <ompl/base/objectives/PathLengthOptimizationObjective.h>

Inheritance diagram for base::PathLengthOptimizationObjective:

List of all members.

Public Member Functions

 PathLengthOptimizationObjective (const SpaceInformationPtr &si)
virtual Cost stateCost (const State *s) const
 Returns identity cost.
virtual Cost motionCost (const State *s1, const State *s2) const
 Motion cost for this objective is defined as the configuration space distance between s1 and s2, using the method SpaceInformation::distance().
virtual Cost motionCostHeuristic (const State *s1, const State *s2) const
 the motion cost heuristic for this objective is simply the configuration space distance between s1 and s2, since this is the optimal cost between any two states assuming no obstacles.

Detailed Description

An optimization objective which corresponds to optimizing path length.

Definition at line 47 of file PathLengthOptimizationObjective.h.


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