MechanicalWorkOptimizationObjective.h
An optimization objective which defines path cost using the idea of mechanical work. To be used in conjunction with TRRT.
Definition: MechanicalWorkOptimizationObjective.h:47
MechanicalWorkOptimizationObjective(const SpaceInformationPtr &si, double pathLengthWeight=0.00001)
The mechanical work formulation requires a weighing factor to use for the length of a path in order t...
Definition: MechanicalWorkOptimizationObjective.cpp:40
virtual Cost motionCost(const State *s1, const State *s2) const
Defines motion cost in terms of the mechanical work formulation used for TRRT.
Definition: MechanicalWorkOptimizationObjective.cpp:58
A boost shared pointer wrapper for ompl::base::SpaceInformation.
virtual double getPathLengthWeight() const
Set the factor to use for weighing path length in the mechanical work objective formulation.
Definition: MechanicalWorkOptimizationObjective.cpp:48
Abstract definition of optimization objectives.
Definition: OptimizationObjective.h:66
virtual Cost stateCost(const State *s) const
Returns a cost with a value of 1.
Definition: MechanicalWorkOptimizationObjective.cpp:53
double pathLengthWeight_
The weighing factor for the path length in the mechanical work objective formulation.
Definition: MechanicalWorkOptimizationObjective.h:65
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47