Class VFMechanicalWorkOptimizationObjective

• Defined in File VFMechanicalWorkOptimizationObjective.h

Inheritance Relationships

Base Type

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

Class Documentation

class VFMechanicalWorkOptimizationObjective : public ompl::base::MechanicalWorkOptimizationObjective

Optimization objective that computes mechanical work between two states by following a vector field.

Public Functions

inline VFMechanicalWorkOptimizationObjective(const ompl::base::SpaceInformationPtr &si, geometric::VFRRT::VectorField vf)

Constructor.

inline virtual bool isSatisfied(ompl::base::Cost) const override

Assume we can always do better.

inline virtual ompl::base::Cost motionCost(const ompl::base::State *s1, const ompl::base::State *s2) const override

Compute mechanical work between two states.

inline virtual bool isSymmetric() const override

Check if this objective has a symmetric cost metric, i.e. motionCost(s1, s2) = motionCost(s2,

s1). Default implementation returns whether the underlying state space has symmetric interpolation.

Protected Attributes

geometric::VFRRT::VectorField vf_

VectorField associated with the space.