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PathLengthOptimizationObjective.cpp
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34
35/* Author: Luis G. Torres, Jonathan Gammell */
36
37#include "ompl/base/objectives/PathLengthOptimizationObjective.h"
38#include <memory>
39#include "ompl/base/samplers/informed/PathLengthDirectInfSampler.h"
40
41ompl::base::PathLengthOptimizationObjective::PathLengthOptimizationObjective(const SpaceInformationPtr &si)
42 : ompl::base::OptimizationObjective(si)
43{
44 description_ = "Path Length";
45
46 // Setup a default cost-to-go heuristics:
47 setCostToGoHeuristic(base::goalRegionCostToGo);
48}
49
51{
52 return identityCost();
53}
54
56{
57 return Cost(si_->distance(s1, s2));
58}
59
61 const State *s2) const
62{
63 return motionCost(s1, s2);
64}
65
67 const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls) const
68{
69// Make the direct path-length informed sampler and return. If OMPL was compiled with Eigen, a direct version is
70// available, if not a rejection-based technique can be used
71 return std::make_shared<PathLengthDirectInfSampler>(probDefn, maxNumberCalls);
72}
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
virtual Cost identityCost() const
Get the identity cost value. The identity cost value is the cost c_i such that, for all costs c,...
InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls) const override
Allocate a state sampler for the path-length objective (i.e., direct ellipsoidal sampling).
Cost stateCost(const State *s) const override
Returns identity cost.
Cost motionCostHeuristic(const State *s1, const State *s2) const override
the motion cost heuristic for this objective is simply the configuration space distance between s1 an...
Cost motionCost(const State *s1, const State *s2) const override
Motion cost for this objective is defined as the configuration space distance between s1 and s2,...
A shared pointer wrapper for ompl::base::ProblemDefinition.
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
Main namespace. Contains everything in this library.