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ControlDurationObjective.h
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34
35/* Author: Wolfgang Hönig */
36
37#ifndef OMPL_BASE_OBJECTIVES_CONTROL_DURATION_OPTIMIZATION_OBJECTIVE_
38#define OMPL_BASE_OBJECTIVES_CONTROL_DURATION_OPTIMIZATION_OBJECTIVE_
39
40#include "ompl/base/OptimizationObjective.h"
41#include "ompl/control/SpaceInformation.h"
42
43namespace ompl
44{
45 namespace base
46 {
51 {
52 public:
54 ControlDurationObjective(const control::SpaceInformationPtr &si);
55
57 Cost stateCost(const State *s) const override;
58
60 Cost motionCost(const State *s1, const State *s2) const override;
61
63 Cost controlCost(const control::Control *c, unsigned int steps) const override;
64
65 protected:
67 double dt_;
68 };
69 }
70}
71
72#endif
Defines optimization objectives where the total time of a control action is summed....
Cost controlCost(const control::Control *c, unsigned int steps) const override
Returns the cost with the value of steps*dt.
Cost stateCost(const State *s) const override
Returns a cost with a value of 0.
double dt_
Duration of each control step.
Cost motionCost(const State *s1, const State *s2) const override
Returns a cost with a value of 0.
ControlDurationObjective(const control::SpaceInformationPtr &si)
Requires a control::SpaceInformationPtr to access dt.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
Abstract definition of optimization objectives.
Definition of an abstract state.
Definition State.h:50
Definition of an abstract control.
Definition Control.h:48
Main namespace. Contains everything in this library.