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OptimizationObjective.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_OPTIMIZATION_OBJECTIVE_
38 #define OMPL_BASE_OPTIMIZATION_OBJECTIVE_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/base/Path.h"
42 #include "ompl/base/SpaceInformation.h"
43 #include "ompl/util/ClassForward.h"
44 #include <boost/noncopyable.hpp>
45 #include <limits>
46 
47 namespace ompl
48 {
49  namespace base
50  {
52 
53  OMPL_CLASS_FORWARD(OptimizationObjective);
55 
62  class OptimizationObjective : private boost::noncopyable
63  {
64  public:
67 
68  virtual ~OptimizationObjective(void)
69  {
70  }
71 
73  const std::string& getDescription(void) const
74  {
75  return description_;
76  }
77 
79  virtual bool isSatisfied(double totalObjectiveCost) const = 0;
80 
82  virtual double getIncrementalCost(const State *s1, const State *s2) const = 0;
83 
85  virtual double getTerminalCost(const State *s) const = 0;
86 
88  virtual double combineObjectiveCosts(double a, double b) const = 0;
89 
91  virtual double getCost(const PathPtr &path) const;
92 
93  protected:
96 
98  std::string description_;
99  };
100 
104  {
105  public:
106 
108  BoundedAdditiveOptimizationObjective(const SpaceInformationPtr &si, double maximumUpperBound) :
110  maximumUpperBound_(maximumUpperBound)
111  {
112  }
113 
115  double getMaximumUpperBound(void) const
116  {
117  return maximumUpperBound_;
118  }
119 
122  void setMaximumUpperBound(double maximumUpperBound)
123  {
124  maximumUpperBound_ = maximumUpperBound;
125  }
126 
127  virtual bool isSatisfied(double totalObjectiveCost) const;
128 
129  virtual double combineObjectiveCosts(double a, double b) const;
130 
131  virtual double getTerminalCost(const State *s) const;
132 
133  protected:
134 
137  };
138 
139 
141  {
142  public:
143 
145  PathLengthOptimizationObjective(const SpaceInformationPtr &si, double maximumPathLength = std::numeric_limits<double>::infinity());
146 
147  virtual double getIncrementalCost(const State *s1, const State *s2) const;
148  };
149 
151  {
152  public:
153 
155  StateCostOptimizationObjective(const SpaceInformationPtr &si, double maximumCostSum = std::numeric_limits<double>::infinity());
156 
157  virtual double getIncrementalCost(const State *s1, const State *s2) const;
158  };
159 
160  }
161 }
162 
163 #endif