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VFUpstreamCriterionOptimizationObjective.h
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
Abstract definition of optimization objectives.
Definition OptimizationObjective.h:75
std::string description_
The description of this optimization objective.
Definition OptimizationObjective.h:195
SpaceInformationPtr si_
The space information for this objective.
Definition OptimizationObjective.h:192
A shared pointer wrapper for ompl::base::SpaceInformation.
VFUpstreamCriterionOptimizationObjective(const ompl::base::SpaceInformationPtr &si, geometric::VFRRT::VectorField vf)
Cost stateCost(const State *) const override
Returns a cost with a value of 0.
ompl::base::Cost motionCost(const State *s1, const State *s2) const override
bool isSatisfied(ompl::base::Cost) const override
geometric::VFRRT::VectorField vf_
bool isSymmetric() const override
Check if this objective has a symmetric cost metric, i.e. motionCost(s1, s2) = motionCost(s2,...
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66
STL namespace.