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:

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.
The documentation for this class was generated from the following files:
- ompl/base/objectives/MechanicalWorkOptimizationObjective.h
- ompl/base/objectives/src/MechanicalWorkOptimizationObjective.cpp