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VFMechanicalWorkOptimizationObjective.h
52 class VFMechanicalWorkOptimizationObjective : public ompl::base::MechanicalWorkOptimizationObjective
69 ompl::base::Cost motionCost(const ompl::base::State *s1, const ompl::base::State *s2) const override
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
An optimization objective which defines path cost using the idea of mechanical work....
Definition MechanicalWorkOptimizationObjective.h:49
MechanicalWorkOptimizationObjective(const SpaceInformationPtr &si, double pathLengthWeight=0.00001)
The mechanical work formulation requires a weighing factor to use for the length of a path in order t...
Definition MechanicalWorkOptimizationObjective.cpp:39
double pathLengthWeight_
The weighing factor for the path length in the mechanical work objective formulation.
Definition MechanicalWorkOptimizationObjective.h:67
SpaceInformationPtr si_
The space information for this objective.
Definition OptimizationObjective.h:192
ompl::base::Cost motionCost(const ompl::base::State *s1, const ompl::base::State *s2) const override
Definition VFMechanicalWorkOptimizationObjective.h:69
bool isSatisfied(ompl::base::Cost) const override
Definition VFMechanicalWorkOptimizationObjective.h:63
geometric::VFRRT::VectorField vf_
Definition VFMechanicalWorkOptimizationObjective.h:92
VFMechanicalWorkOptimizationObjective(const ompl::base::SpaceInformationPtr &si, geometric::VFRRT::VectorField vf)
Definition VFMechanicalWorkOptimizationObjective.h:56
bool isSymmetric() const override
Check if this objective has a symmetric cost metric, i.e. motionCost(s1, s2) = motionCost(s2,...
Definition VFMechanicalWorkOptimizationObjective.h:85
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66
STL namespace.