OMPL
Overview
Download
Documentation
Primer
Installation
Tutorials
Demos
Python Bindings
Available Planners
Available State Spaces
FAQ
External links:
OMPL ROS Interface
OMPL ROS Tutorial
Code
API Overview
Classes
Files
Browse Repository
TeamCity Build Server
Issues
Community
Developers
Contributions
Education
Gallery
About
License
Citations
Acknowledgments
Contact Us
Blog
All
Classes
Namespaces
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
All
Classes
Namespaces
Files
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
Groups
Pages
src
ompl
base
OptimizationObjective.h
1
/*********************************************************************
2
* Software License Agreement (BSD License)
3
*
4
* Copyright (c) 2012, Willow Garage, Inc.
5
* All rights reserved.
6
*
7
* Redistribution and use in source and binary forms, with or without
8
* modification, are permitted provided that the following conditions
9
* are met:
10
*
11
* * Redistributions of source code must retain the above copyright
12
* notice, this list of conditions and the following disclaimer.
13
* * Redistributions in binary form must reproduce the above
14
* copyright notice, this list of conditions and the following
15
* disclaimer in the documentation and/or other materials provided
16
* with the distribution.
17
* * Neither the name of the Willow Garage nor the names of its
18
* contributors may be used to endorse or promote products derived
19
* from this software without specific prior written permission.
20
*
21
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32
* POSSIBILITY OF SUCH DAMAGE.
33
*********************************************************************/
34
35
/* Author: Ioan Sucan */
36
37
#ifndef OMPL_BASE_OPTIMIZATION_OBJECTIVE_
38
#define OMPL_BASE_OPTIMIZATION_OBJECTIVE_
39
40
#include "ompl/base/State.h"
41
#include "ompl/base/Path.h"
42
#include "ompl/base/SpaceInformation.h"
43
#include "ompl/util/ClassForward.h"
44
#include <boost/noncopyable.hpp>
45
#include <limits>
46
47
namespace
ompl
48
{
49
namespace
base
50
{
52
53
OMPL_CLASS_FORWARD(OptimizationObjective);
55
62
class
OptimizationObjective
:
private
boost::noncopyable
63
{
64
public
:
66
OptimizationObjective
(
const
SpaceInformationPtr
&si);
67
68
virtual
~
OptimizationObjective
(
void
)
69
{
70
}
71
73
const
std::string&
getDescription
(
void
)
const
74
{
75
return
description_
;
76
}
77
79
virtual
bool
isSatisfied
(
double
totalObjectiveCost)
const
= 0;
80
82
virtual
double
getIncrementalCost
(
const
State
*s1,
const
State
*s2)
const
= 0;
83
85
virtual
double
getTerminalCost
(
const
State
*s)
const
= 0;
86
88
virtual
double
combineObjectiveCosts
(
double
a,
double
b)
const
= 0;
89
91
virtual
double
getCost
(
const
PathPtr
&path)
const
;
92
93
protected
:
95
SpaceInformationPtr
si_
;
96
98
std::string
description_
;
99
};
100
103
class
BoundedAdditiveOptimizationObjective
:
public
OptimizationObjective
104
{
105
public
:
106
108
BoundedAdditiveOptimizationObjective
(
const
SpaceInformationPtr
&si,
double
maximumUpperBound) :
109
OptimizationObjective
(si),
110
maximumUpperBound_
(maximumUpperBound)
111
{
112
}
113
115
double
getMaximumUpperBound
(
void
)
const
116
{
117
return
maximumUpperBound_
;
118
}
119
122
void
setMaximumUpperBound
(
double
maximumUpperBound)
123
{
124
maximumUpperBound_
= maximumUpperBound;
125
}
126
127
virtual
bool
isSatisfied
(
double
totalObjectiveCost)
const
;
128
129
virtual
double
combineObjectiveCosts
(
double
a,
double
b)
const
;
130
131
virtual
double
getTerminalCost
(
const
State
*s)
const
;
132
133
protected
:
134
136
double
maximumUpperBound_
;
137
};
138
139
140
class
PathLengthOptimizationObjective
:
public
BoundedAdditiveOptimizationObjective
141
{
142
public
:
143
145
PathLengthOptimizationObjective
(
const
SpaceInformationPtr
&si,
double
maximumPathLength = std::numeric_limits<double>::infinity());
146
147
virtual
double
getIncrementalCost
(
const
State
*s1,
const
State
*s2)
const
;
148
};
149
150
class
StateCostOptimizationObjective
:
public
BoundedAdditiveOptimizationObjective
151
{
152
public
:
153
155
StateCostOptimizationObjective
(
const
SpaceInformationPtr
&si,
double
maximumCostSum = std::numeric_limits<double>::infinity());
156
157
virtual
double
getIncrementalCost
(
const
State
*s1,
const
State
*s2)
const
;
158
};
159
160
}
161
}
162
163
#endif