base::MechanicalWorkOptimizationObjective Class Reference

An optimization objective which defines path cost using the idea of mechanical work. To be used in conjunction with TRRT. More...

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

Inheritance diagram for base::MechanicalWorkOptimizationObjective:

List of all members.

Public Member Functions

 MechanicalWorkOptimizationObjective (const SpaceInformationPtr &si, double pathLengthWeight=0.00001)
 The mechanical work formulation requires a weighing factor to use for the length of a path in order to disambiguate optimal paths. This weighing factor should be small. The default value for this weight is 0.00001.
virtual double getPathLengthWeight () const
 Set the factor to use for weighing path length in the mechanical work objective formulation.
virtual Cost stateCost (const State *s) const
 Returns a cost with a value of 1.
virtual Cost motionCost (const State *s1, const State *s2) const
 Defines motion cost in terms of the mechanical work formulation used for TRRT.

Protected Attributes

double pathLengthWeight_
 The weighing factor for the path length in the mechanical work objective formulation.

Detailed Description

An optimization objective which defines path cost using the idea of mechanical work. To be used in conjunction with TRRT.

Definition at line 47 of file MechanicalWorkOptimizationObjective.h.


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