Class ConstraintObjective

• Defined in File Constraint.h

Inheritance Relationships

Base Type

• public ompl::base::OptimizationObjective (Class OptimizationObjective)

Class Documentation

class ConstraintObjective : public ompl::base::OptimizationObjective

Wrapper around ompl::base::Constraint to use as an optimization objective.

Public Functions

inline ConstraintObjective(ConstraintPtr constraint, SpaceInformationPtr si)

Constructor.

inline virtual Cost stateCost(const State *s) const override

Evaluate a cost map defined on the state space at a state s. Cost map is defined as the distance from the constraint.

Protected Attributes

ConstraintPtr constraint_

Optimizing constraint.