Function ompl::base::goalRegionCostToGo

• Defined in File OptimizationObjective.h

Function Documentation

Cost ompl::base::goalRegionCostToGo(const State *state, const Goal *goal)

For use when the cost-to-go of a state under the optimization objective is equivalent to the goal region’s distanceGoal() . This function assumes that all states within the goal region’s threshold have a cost-to-go of exactly zero. Note: goal is assumed to be of type ompl::base::GoalRegion.