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CostConvergenceTerminationCondition.h
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35/* Author: Henning Kayser, Mark Moll */
36
37#include "ompl/base/PlannerTerminationCondition.h"
38
39namespace ompl
40{
41 namespace base
42 {
45 {
46 public:
55 CostConvergenceTerminationCondition(ProblemDefinitionPtr &pdef, size_t solutionsWindow = 10,
56 double epsilon = 0.1);
57
58 // Compute the running average cost of the last solutions (solutionWindow)
59 // and terminate if the cost of a new solution is worse than
60 // convergenceThreshold times the average cost.
61 void processNewSolution(const Cost solutionCost);
62
63 private:
67 double averageCost_{0.};
69 size_t solutions_{0};
70
72 const size_t solutionsWindow_;
75 const double epsilon_;
76 };
77 } // namespace base
78} // namespace ompl
: A termination condition for stopping an optimizing planner based on cost convergence
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
A shared pointer wrapper for ompl::base::ProblemDefinition.
Main namespace. Contains everything in this library.