PathLengthOptimizationObjective.h
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 optimization objectives.
Definition: OptimizationObjective.h:71
An optimization objective which corresponds to optimizing path length.
Definition: PathLengthOptimizationObjective.h:48
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