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OptimizationObjective.h
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34
35/* Author: Luis G. Torres, Ioan Sucan, Jonathan Gammell */
36
37#ifndef OMPL_BASE_OPTIMIZATION_OBJECTIVE_
38#define OMPL_BASE_OPTIMIZATION_OBJECTIVE_
39
40#include "ompl/base/Cost.h"
41#include "ompl/base/SpaceInformation.h"
42#include "ompl/util/ClassForward.h"
43#include "ompl/base/ProblemDefinition.h"
44#include "ompl/base/samplers/InformedStateSampler.h"
45
46#include <functional>
47#include <iostream>
48
49namespace ompl
50{
51 namespace base
52 {
53 class Goal;
54
57 using CostToGoHeuristic = std::function<Cost(const State *, const Goal *)>;
58
60
61 OMPL_CLASS_FORWARD(OptimizationObjective);
63
71 {
72 public:
73 // non-copyable
75 OptimizationObjective &operator=(const OptimizationObjective &) = delete;
76
80
81 virtual ~OptimizationObjective() = default;
82
84 const std::string &getDescription() const;
85
88 virtual bool isSatisfied(Cost c) const;
89
91 Cost getCostThreshold() const;
92
95 void setCostThreshold(Cost c);
96
99 virtual bool isCostBetterThan(Cost c1, Cost c2) const;
100
104 virtual bool isCostEquivalentTo(Cost c1, Cost c2) const;
105
107 virtual bool isFinite(Cost cost) const;
108
110 virtual Cost betterCost(Cost c1, Cost c2) const;
111
113 virtual Cost stateCost(const State *s) const = 0;
114
116 virtual Cost motionCost(const State *s1, const State *s2) const = 0;
117
120 virtual Cost combineCosts(Cost c1, Cost c2) const;
121
127 virtual Cost identityCost() const;
128
131 virtual Cost infiniteCost() const;
132
135 virtual Cost initialCost(const State *s) const;
136
139 virtual Cost terminalCost(const State *s) const;
140
143 virtual bool isSymmetric() const;
144
146 virtual Cost averageStateCost(unsigned int numStates) const;
147
152
154 bool hasCostToGoHeuristic() const;
155
160 Cost costToGo(const State *state, const Goal *goal) const;
161
166 virtual Cost motionCostHeuristic(const State *s1, const State *s2) const;
167
170
173 virtual InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr &probDefn,
174 unsigned int maxNumberCalls) const;
175
177 virtual void print(std::ostream &out) const;
178
179 protected:
182
184 std::string description_;
185
188
192 };
193
202 Cost goalRegionCostToGo(const State *state, const Goal *goal);
203
208 {
209 public:
211
214 void addObjective(const OptimizationObjectivePtr &objective, double weight);
215
217 std::size_t getObjectiveCount() const;
218
221 const OptimizationObjectivePtr &getObjective(unsigned int idx) const;
222
224 double getObjectiveWeight(unsigned int idx) const;
225
227 void setObjectiveWeight(unsigned int idx, double weight);
228
230 void lock();
231
233 bool isLocked() const;
234
239 Cost stateCost(const State *s) const override;
240
245 Cost motionCost(const State *s1, const State *s2) const override;
246
247 protected:
250 {
251 Component(OptimizationObjectivePtr obj, double weight);
252 OptimizationObjectivePtr objective;
253 double weight;
254 };
255
257 std::vector<Component> components_;
258
261
262
263 // Friend functions for operator overloads for easy multiobjective creation
265 const OptimizationObjectivePtr &b);
266
268
270 };
271
275 const OptimizationObjectivePtr &b);
276
280
284 }
285}
286
287#endif
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
Abstract definition of goals.
Definition Goal.h:63
This class allows for the definition of multiobjective optimal planning problems. Objectives are adde...
const OptimizationObjectivePtr & getObjective(unsigned int idx) const
Returns a specific objective from this multiobjective, where the individual objectives are in order o...
void setObjectiveWeight(unsigned int idx, double weight)
Sets the weighing factor of a specific objective.
std::size_t getObjectiveCount() const
Returns the number of objectives that make up this multiobjective.
Cost stateCost(const State *s) const override
double getObjectiveWeight(unsigned int idx) const
Returns the weighing factor of a specific objective.
bool locked_
Whether this multiobjective is locked from further additions.
friend OptimizationObjectivePtr operator*(const OptimizationObjectivePtr &a, double weight)
Given a weighing factor and an optimization objective, returns a MultiOptimizationObjective containin...
friend OptimizationObjectivePtr operator*(double weight, const OptimizationObjectivePtr &a)
Given a weighing factor and an optimization objective, returns a MultiOptimizationObjective containin...
bool isLocked() const
Returns whether this multiobjective has been locked from adding further objectives.
std::vector< Component > components_
List of objective/weight pairs.
void addObjective(const OptimizationObjectivePtr &objective, double weight)
Adds a new objective for this multiobjective. A weight must also be specified for specifying importan...
Cost motionCost(const State *s1, const State *s2) const override
friend OptimizationObjectivePtr operator+(const OptimizationObjectivePtr &a, const OptimizationObjectivePtr &b)
Given two optimization objectives, returns a MultiOptimizationObjective that combines the two objecti...
void lock()
This method "freezes" this multiobjective so that no more objectives can be added to it.
A shared pointer wrapper for ompl::base::OptimizationObjective.
Abstract definition of optimization objectives.
Cost costToGo(const State *state, const Goal *goal) const
Uses a cost-to-go heuristic to calculate an admissible estimate of the optimal cost from a given stat...
std::string description_
The description of this optimization objective.
void setCostThreshold(Cost c)
Set the cost threshold for objective satisfaction. When a path is found with a cost better than the c...
virtual Cost averageStateCost(unsigned int numStates) const
Compute the average state cost of this objective by taking a sample of numStates states.
bool hasCostToGoHeuristic() const
Check if this objective has a cost-to-go heuristic function.
virtual bool isCostEquivalentTo(Cost c1, Cost c2) const
Compare whether cost c1 and cost c2 are equivalent. By default defined as !isCostBetterThan(c1,...
virtual bool isFinite(Cost cost) const
Returns whether the cost is finite or not.
void setCostToGoHeuristic(const CostToGoHeuristic &costToGo)
Set the cost-to-go heuristic function for this objective. The cost-to-go heuristic is a function whic...
virtual Cost stateCost(const State *s) const =0
Evaluate a cost map defined on the state space at a state s.
const SpaceInformationPtr & getSpaceInformation() const
Returns this objective's SpaceInformation. Needed for operators in MultiOptimizationObjective.
Cost threshold_
The cost threshold used for checking whether this objective has been satisfied during planning.
virtual Cost motionCostHeuristic(const State *s1, const State *s2) const
Defines an admissible estimate on the optimal cost on the motion between states s1 and s2....
virtual Cost identityCost() const
Get the identity cost value. The identity cost value is the cost c_i such that, for all costs c,...
virtual Cost combineCosts(Cost c1, Cost c2) const
Get the cost that corresponds to combining the costs c1 and c2. Default implementation defines this c...
virtual Cost terminalCost(const State *s) const
Returns a cost value corresponding to a path ending at a state s. No optimal planners currently suppo...
virtual bool isCostBetterThan(Cost c1, Cost c2) const
Check whether the the cost c1 is considered better than the cost c2. By default, this returns true if...
CostToGoHeuristic costToGoFn_
The function used for returning admissible estimates on the optimal cost of the path between a given ...
Cost getCostThreshold() const
Returns the cost threshold currently being checked for objective satisfaction.
virtual bool isSatisfied(Cost c) const
Check if the the given cost c satisfies the specified cost objective, defined as better than the spec...
virtual Cost motionCost(const State *s1, const State *s2) const =0
Get the cost that corresponds to the motion segment between s1 and s2.
virtual Cost betterCost(Cost c1, Cost c2) const
Return the minimum cost given c1 and c2. Uses isCostBetterThan.
virtual bool isSymmetric() const
Check if this objective has a symmetric cost metric, i.e. motionCost(s1, s2) = motionCost(s2,...
virtual Cost infiniteCost() const
Get a cost which is greater than all other costs in this OptimizationObjective; required for use in D...
const std::string & getDescription() const
Get the description of this optimization objective.
virtual Cost initialCost(const State *s) const
Returns a cost value corresponding to starting at a state s. No optimal planners currently support th...
virtual void print(std::ostream &out) const
Print information about this optimization objective.
virtual InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls) const
Allocate a heuristic-sampling state generator for this cost function, defaults to a basic rejection s...
SpaceInformationPtr si_
The space information for this objective.
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
Cost goalRegionCostToGo(const State *state, const Goal *goal)
For use when the cost-to-go of a state under the optimization objective is equivalent to the goal reg...
std::function< Cost(const State *, const Goal *)> CostToGoHeuristic
The definition of a function which returns an admissible estimate of the optimal path cost from a giv...
OptimizationObjectivePtr operator+(const OptimizationObjectivePtr &a, const OptimizationObjectivePtr &b)
Given two optimization objectives, returns a MultiOptimizationObjective that combines the two objecti...
OptimizationObjectivePtr operator*(double weight, const OptimizationObjectivePtr &a)
Given a weighing factor and an optimization objective, returns a MultiOptimizationObjective containin...
Main namespace. Contains everything in this library.
Defines a pairing of an objective and its weight.