ompl/base/objectives/src/StateCostIntegralObjective.cpp
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00034 
00035 /* Author: Luis G. Torres */
00036 
00037 #include "ompl/base/objectives/StateCostIntegralObjective.h"
00038 
00039 ompl::base::StateCostIntegralObjective::
00040 StateCostIntegralObjective(const SpaceInformationPtr &si,
00041                            bool enableMotionCostInterpolation) :
00042     OptimizationObjective(si),
00043     interpolateMotionCost_(enableMotionCostInterpolation)
00044 {
00045     description_ = "State Cost Integral";
00046 }
00047 
00048 ompl::base::Cost ompl::base::StateCostIntegralObjective::stateCost(const State *s) const
00049 {
00050     return Cost(1.0);
00051 }
00052 
00053 ompl::base::Cost ompl::base::StateCostIntegralObjective::motionCost(const State *s1,
00054                                                                     const State *s2) const
00055 {
00056     if (interpolateMotionCost_)
00057     {
00058         Cost totalCost = this->identityCost();
00059 
00060         int nd = si_->getStateSpace()->validSegmentCount(s1, s2);
00061 
00062         State *test1 = si_->cloneState(s1);
00063         Cost prevStateCost = this->stateCost(test1);
00064         if (nd > 1)
00065         {
00066             State *test2 = si_->allocState();
00067             for (int j = 1; j < nd; ++j)
00068             {
00069                 si_->getStateSpace()->interpolate(s1, s2, (double) j / (double) nd, test2);
00070                 Cost nextStateCost = this->stateCost(test2);
00071                 totalCost = Cost(totalCost.value() + this->trapezoid(prevStateCost, nextStateCost,
00072                                                                      si_->distance(test1, test2)).value());
00073                 std::swap(test1, test2);
00074                 prevStateCost = nextStateCost;
00075             }
00076             si_->freeState(test2);
00077         }
00078 
00079         // Lastly, add s2
00080         totalCost = Cost(totalCost.value() + this->trapezoid(prevStateCost, this->stateCost(s2),
00081                                                              si_->distance(test1, s2)).value());
00082 
00083         si_->freeState(test1);
00084 
00085         return totalCost;
00086     }
00087     else
00088         return this->trapezoid(this->stateCost(s1), this->stateCost(s2),
00089                                si_->distance(s1, s2));
00090 }
00091 
00092 bool ompl::base::StateCostIntegralObjective::isMotionCostInterpolationEnabled() const
00093 {
00094     return interpolateMotionCost_;
00095 }
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