Loading...
Searching...
No Matches
MechanicalWorkOptimizationObjective.cpp
56ompl::base::Cost ompl::base::MechanicalWorkOptimizationObjective::motionCost(const State *s1, const State *s2) const
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
Cost motionCost(const State *s1, const State *s2) const override
Defines motion cost in terms of the mechanical work formulation used for TRRT.
Definition MechanicalWorkOptimizationObjective.cpp:56
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:39
virtual double getPathLengthWeight() const
Set the factor to use for weighing path length in the mechanical work objective formulation.
Definition MechanicalWorkOptimizationObjective.cpp:46
Cost stateCost(const State *s) const override
Returns a cost with a value of 1.
Definition MechanicalWorkOptimizationObjective.cpp:51
Abstract definition of optimization objectives.
Definition OptimizationObjective.h:75
std::string description_
The description of this optimization objective.
Definition OptimizationObjective.h:195
A shared pointer wrapper for ompl::base::SpaceInformation.