StateCostIntegralObjective.cpp
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34
35/* Author: Luis G. Torres */
36
37#include "ompl/base/objectives/StateCostIntegralObjective.h"
38
40 bool enableMotionCostInterpolation)
41 : OptimizationObjective(si), interpolateMotionCost_(enableMotionCostInterpolation)
42{
43 description_ = "State Cost Integral";
44}
45
47{
48 return Cost(1.0);
49}
50
52{
53 if (interpolateMotionCost_)
54 {
55 Cost totalCost = this->identityCost();
56
57 int nd = si_->getStateSpace()->validSegmentCount(s1, s2);
58
59 State *test1 = si_->cloneState(s1);
60 Cost prevStateCost = this->stateCost(test1);
61 if (nd > 1)
62 {
63 State *test2 = si_->allocState();
64 for (int j = 1; j < nd; ++j)
65 {
66 si_->getStateSpace()->interpolate(s1, s2, (double)j / (double)nd, test2);
67 Cost nextStateCost = this->stateCost(test2);
68 totalCost = Cost(totalCost.value() +
69 this->trapezoid(prevStateCost, nextStateCost, si_->distance(test1, test2)).value());
70 std::swap(test1, test2);
71 prevStateCost = nextStateCost;
72 }
73 si_->freeState(test2);
74 }
75
76 // Lastly, add s2
77 totalCost = Cost(totalCost.value() +
78 this->trapezoid(prevStateCost, this->stateCost(s2), si_->distance(test1, s2)).value());
79
80 si_->freeState(test1);
81
82 return totalCost;
83 }
84
85 return this->trapezoid(this->stateCost(s1), this->stateCost(s2), si_->distance(s1, s2));
86}
87
89{
90 return interpolateMotionCost_;
91}
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
double value() const
The value of the cost.
Definition: Cost.h:56
Abstract definition of optimization objectives.
std::string description_
The description of this optimization objective.
A shared pointer wrapper for ompl::base::SpaceInformation.
StateCostIntegralObjective(const SpaceInformationPtr &si, bool enableMotionCostInterpolation=false)
If enableMotionCostInterpolation is set to true, then calls to motionCost() will divide the motion se...
Cost motionCost(const State *s1, const State *s2) const override
Compute the cost of a path segment from s1 to s2 (including endpoints)
Cost stateCost(const State *s) const override
Returns a cost with a value of 1.
bool isMotionCostInterpolationEnabled() const
Returns whether this objective subdivides motions into smaller segments for more accurate motion cost...
Definition of an abstract state.
Definition: State.h:50