Class PathLengthOptimizationObjective

Inheritance Relationships

Base Type

Class Documentation

class PathLengthOptimizationObjective : public ompl::base::OptimizationObjective

An optimization objective which corresponds to optimizing path length.

Public Functions

PathLengthOptimizationObjective(const SpaceInformationPtr &si)
virtual Cost stateCost(const State *s) const override

Returns identity cost.

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

Motion cost for this objective is defined as the configuration space distance between s1 and s2, using the method SpaceInformation::distance().

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

the motion cost heuristic for this objective is simply the configuration space distance between s1 and s2, since this is the optimal cost between any two states assuming no obstacles.

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

the best motion cost estimate for this objective is simply the configuration space distance between s1 and s2, since this is the optimal cost between any two states assuming no obstacles.

virtual InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls) const override

Allocate a state sampler for the path-length objective (i.e., direct ellipsoidal sampling).