PathLengthOptimizationObjective.cpp
41 ompl::base::PathLengthOptimizationObjective::PathLengthOptimizationObjective(const SpaceInformationPtr &si)
55 ompl::base::Cost ompl::base::PathLengthOptimizationObjective::motionCost(const State *s1, const State *s2) const
60 ompl::base::Cost ompl::base::PathLengthOptimizationObjective::motionCostHeuristic(const State *s1,
66 ompl::base::InformedSamplerPtr ompl::base::PathLengthOptimizationObjective::allocInformedStateSampler(
69 // Make the direct path-length informed sampler and return. If OMPL was compiled with Eigen, a direct version is
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,...
Definition: OptimizationObjective.cpp:96
InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls) const override
Allocate a state sampler for the path-length objective (i.e., direct ellipsoidal sampling).
Definition: PathLengthOptimizationObjective.cpp:66
Cost stateCost(const State *s) const override
Returns identity cost.
Definition: PathLengthOptimizationObjective.cpp:50
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...
Definition: PathLengthOptimizationObjective.cpp:60
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,...
Definition: PathLengthOptimizationObjective.cpp:55
A shared pointer wrapper for ompl::base::ProblemDefinition.
A shared pointer wrapper for ompl::base::SpaceInformation.
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:53