PathLengthOptimizationObjective.cpp
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, Rice University
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 Rice University 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: Luis G. Torres */
36 
37 #include "ompl/base/objectives/PathLengthOptimizationObjective.h"
38 
39 ompl::base::PathLengthOptimizationObjective::
40 PathLengthOptimizationObjective(const SpaceInformationPtr &si) :
41  ompl::base::OptimizationObjective(si)
42 {
43  description_ = "Path Length";
44 }
45 
47 {
48  return identityCost();
49 }
50 
52 {
53  return Cost(si_->distance(s1, s2));
54 }
55 
57 {
58  return motionCost(s1, s2);
59 }
std::string description_
The description of this optimization objective.
virtual Cost motionCost(const State *s1, const State *s2) const
Interpolates between s1 and s2 to check for state costs along the motion between the two states...
virtual Cost identityCost() const
Get the identity cost value. The identity cost value is the cost c_i such that, for all costs c...
virtual Cost motionCost(const State *s1, const State *s2) const
Motion cost for this objective is defined as the configuration space distance between s1 and s2...
virtual Cost stateCost(const State *s) const
Returns identity cost.
virtual Cost motionCostHeuristic(const State *s1, const State *s2) const
the motion cost heuristic for this objective is simply the configuration space distance between s1 an...
Main namespace. Contains everything in this library.
Definition: Cost.h:42
Definition of an abstract state.
Definition: State.h:50
SpaceInformationPtr si_
The space information for this objective.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47