Class ControlDurationObjective

• Defined in File ControlDurationObjective.h

Inheritance Relationships

Base Type

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

Class Documentation

class ControlDurationObjective : public ompl::base::OptimizationObjective

Defines optimization objectives where the total time of a control action is summed. This cost function is specified by implementing the controlCost() method.

Public Functions

ControlDurationObjective(const control::SpaceInformationPtr &si)

Requires a control::SpaceInformationPtr to access dt.

virtual Cost stateCost(const State *s) const override

Returns a cost with a value of 0.

virtual Cost motionCost(const State *s1, const State *s2) const override

Returns a cost with a value of 0.

virtual Cost controlCost(const control::Control *c, unsigned int steps) const override

Returns the cost with the value of steps*dt.

Protected Attributes

double dt_

Duration of each control step.