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ompl::base::OptimizationObjective Class Referenceabstract

Abstract definition of optimization objectives. More...

#include <OptimizationObjective.h>

Inheritance diagram for ompl::base::OptimizationObjective:

Public Member Functions

 OptimizationObjective (const SpaceInformationPtr &si)
 Constructor. The objective must always know the space information it is part of.
 
const std::string & getDescription (void) const
 Get the description of this optimization objective.
 
virtual bool isSatisfied (double totalObjectiveCost) const =0
 Verify that our objective is satisfied already and we can stop planning (it the cost is totalObjectiveCost)
 
virtual double getIncrementalCost (const State *s1, const State *s2) const =0
 Get the cost that corresponds to the motion segment between s1 and s2.
 
virtual double getTerminalCost (const State *s) const =0
 Get the cost that corresponds to the final state on the path (that satisfies the goal)
 
virtual double combineObjectiveCosts (double a, double b) const =0
 Get the cost that corresponds to combining the costs a and b.
 
virtual double getCost (const PathPtr &path) const
 Get the cost that corresponds to the sequence of motion segments defined by states.
 

Protected Attributes

SpaceInformationPtr si_
 The space information for this objective.
 
std::string description_
 The description of this optimization objective.
 

Detailed Description

Abstract definition of optimization objectives.

Note
This implementation has greatly benefited from discussions with Kris Hauser

Definition at line 62 of file OptimizationObjective.h.


The documentation for this class was generated from the following files: