Class VFUpstreamCriterionOptimizationObjective

Defined in File VFUpstreamCriterionOptimizationObjective.h

Inheritance Relationships

Base Type

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

Class Documentation

class VFUpstreamCriterionOptimizationObjective : public ompl::base::OptimizationObjective 

Optimization objective that computes the upstream criterion between two states.

Public Functions

inline VFUpstreamCriterionOptimizationObjective(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 Cost stateCost(const State*) const override: Returns a cost with a value of 0.

inline virtual ompl::base::Cost motionCost(const State *s1, const State *s2) const override: Compute upstream criterion 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.