ompl/base/objectives/src/MechanicalWorkOptimizationObjective.cpp
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 #include "ompl/base/objectives/MechanicalWorkOptimizationObjective.h"
00038 
00039 ompl::base::MechanicalWorkOptimizationObjective::
00040 MechanicalWorkOptimizationObjective(const SpaceInformationPtr &si,
00041                                     double pathLengthWeight) :
00042     OptimizationObjective(si),
00043     pathLengthWeight_(pathLengthWeight)
00044 {
00045     description_ = "Mechanical Work";
00046 }
00047 
00048 double ompl::base::MechanicalWorkOptimizationObjective::getPathLengthWeight() const
00049 {
00050     return pathLengthWeight_;
00051 }
00052 
00053 ompl::base::Cost ompl::base::MechanicalWorkOptimizationObjective::stateCost(const State *s) const
00054 {
00055     return Cost(1.0);
00056 }
00057 
00058 ompl::base::Cost ompl::base::MechanicalWorkOptimizationObjective::motionCost(const State *s1,
00059                                                                              const State *s2) const
00060 {
00061     // Only accrue positive changes in cost
00062     double positiveCostAccrued = std::max(stateCost(s2).value() - stateCost(s1).value(), 0.0);
00063     return Cost(positiveCostAccrued + pathLengthWeight_ * si_->distance(s1, s2));
00064 }
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines