VFMechanicalWorkOptimizationObjective.h
52 class VFMechanicalWorkOptimizationObjective : public ompl::base::MechanicalWorkOptimizationObjective
69 ompl::base::Cost motionCost(const ompl::base::State *s1, const ompl::base::State *s2) const override
bool isSymmetric() const override
Check if this objective has a symmetric cost metric, i.e. motionCost(s1, s2) = motionCost(s2, s1). Default implementation returns whether the underlying state space has symmetric interpolation.
Definition: VFMechanicalWorkOptimizationObjective.h:85
A shared pointer wrapper for ompl::base::StateSpace.
An optimization objective which defines path cost using the idea of mechanical work. To be used in conjunction with TRRT.
Definition: MechanicalWorkOptimizationObjective.h:48
STL namespace.
geometric::VFRRT::VectorField vf_
Definition: VFMechanicalWorkOptimizationObjective.h:92
VFMechanicalWorkOptimizationObjective(const ompl::base::SpaceInformationPtr &si, geometric::VFRRT::VectorField vf)
Definition: VFMechanicalWorkOptimizationObjective.h:56
Definition: VFMechanicalWorkOptimizationObjective.h:52
A shared pointer wrapper for ompl::base::SpaceInformation.
ompl::base::Cost motionCost(const ompl::base::State *s1, const ompl::base::State *s2) const override
Definition: VFMechanicalWorkOptimizationObjective.h:69
bool isSatisfied(ompl::base::Cost c) const override
Definition: VFMechanicalWorkOptimizationObjective.h:63
double pathLengthWeight_
The weighing factor for the path length in the mechanical work objective formulation.
Definition: MechanicalWorkOptimizationObjective.h:67
SpaceInformationPtr si_
The space information for this objective.
Definition: OptimizationObjective.h:181
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47