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| StateCostOptimizationObjective (const SpaceInformationPtr &si, double maximumCostSum=std::numeric_limits< double >::infinity()) |
| Constructor. The objective must always know the space information it is part of.
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virtual double | getIncrementalCost (const State *s1, const State *s2) const |
| Get the cost that corresponds to the motion segment between s1 and s2.
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| BoundedAdditiveOptimizationObjective (const SpaceInformationPtr &si, double maximumUpperBound) |
| Constructor. The objective must always know the space information it is part of.
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double | getMaximumUpperBound (void) const |
| Get the maximum upper bound for the objective cost that is to be accepted as satisfactory.
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void | setMaximumUpperBound (double maximumUpperBound) |
| Set the maximum upper bound for the objective cost that is to be accepted as satisfactory. The default value is usually infinity.
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virtual bool | isSatisfied (double totalObjectiveCost) const |
| Verify that our objective is satisfied already and we can stop planning (it the cost is totalObjectiveCost)
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virtual double | combineObjectiveCosts (double a, double b) const |
| Get the cost that corresponds to combining the costs a and b.
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virtual double | getTerminalCost (const State *s) const |
| Get the cost that corresponds to the final state on the path (that satisfies the goal)
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| OptimizationObjective (const SpaceInformationPtr &si) |
| Constructor. The objective must always know the space information it is part of.
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const std::string & | getDescription (void) const |
| Get the description of this optimization objective.
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virtual double | getCost (const PathPtr &path) const |
| Get the cost that corresponds to the sequence of motion segments defined by states.
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double | maximumUpperBound_ |
| The maximum upper bound for the objective cost that is to be accepted as satisfactory.
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Definition at line 150 of file OptimizationObjective.h.
The documentation for this class was generated from the following files: