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ompl::base::BoundedAdditiveOptimizationObjective Class Reference

Representation of optimization objectives that are additive (we sum the values of the objective costs) and that are met as long as an upper bound is satisfied. More...

#include <OptimizationObjective.h>

Inheritance diagram for ompl::base::BoundedAdditiveOptimizationObjective:

Public Member Functions

 BoundedAdditiveOptimizationObjective (const SpaceInformationPtr &si, double maximumUpperBound)
 Constructor. The objective must always know the space information it is part of.
 
double getMaximumUpperBound (void) const
 Get the maximum upper bound for the objective cost that is to be accepted as satisfactory.
 
void setMaximumUpperBound (double maximumUpperBound)
 Set the maximum upper bound for the objective cost that is to be accepted as satisfactory. The default value is usually infinity.
 
virtual bool isSatisfied (double totalObjectiveCost) const
 Verify that our objective is satisfied already and we can stop planning (it the cost is totalObjectiveCost)
 
virtual double combineObjectiveCosts (double a, double b) const
 Get the cost that corresponds to combining the costs a and b.
 
virtual double getTerminalCost (const State *s) const
 Get the cost that corresponds to the final state on the path (that satisfies the goal)
 
- Public Member Functions inherited from ompl::base::OptimizationObjective
 OptimizationObjective (const SpaceInformationPtr &si)
 Constructor. The objective must always know the space information it is part of.
 
const std::string & getDescription (void) const
 Get the description of this optimization objective.
 
virtual double getIncrementalCost (const State *s1, const State *s2) const =0
 Get the cost that corresponds to the motion segment between s1 and s2.
 
virtual double getCost (const PathPtr &path) const
 Get the cost that corresponds to the sequence of motion segments defined by states.
 

Protected Attributes

double maximumUpperBound_
 The maximum upper bound for the objective cost that is to be accepted as satisfactory.
 
- Protected Attributes inherited from ompl::base::OptimizationObjective
SpaceInformationPtr si_
 The space information for this objective.
 
std::string description_
 The description of this optimization objective.
 

Detailed Description

Representation of optimization objectives that are additive (we sum the values of the objective costs) and that are met as long as an upper bound is satisfied.

Definition at line 103 of file OptimizationObjective.h.


The documentation for this class was generated from the following files: