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StateCostIntegralObjective.cpp
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34 
35 /* Author: Luis G. Torres */
36 
37 #include "ompl/base/objectives/StateCostIntegralObjective.h"
38 
41  bool enableMotionCostInterpolation) :
43  interpolateMotionCost_(enableMotionCostInterpolation)
44 {
45  description_ = "State Cost Integral";
46 }
47 
49  const State *s2) const
50 {
51  if (interpolateMotionCost_)
52  {
53  Cost totalCost = this->identityCost();
54 
55  int nd = si_->getStateSpace()->validSegmentCount(s1, s2);
56 
57  State *test1 = si_->cloneState(s1);
58  Cost prevStateCost = this->stateCost(test1);
59  if (nd > 1)
60  {
61  State *test2 = si_->allocState();
62  for (int j = 1; j < nd; ++j)
63  {
64  si_->getStateSpace()->interpolate(s1, s2, (double) j / (double) nd, test2);
65  Cost nextStateCost = this->stateCost(test2);
66  totalCost.v += this->trapezoid(prevStateCost, nextStateCost,
67  si_->distance(test1, test2)).v;
68  std::swap(test1, test2);
69  prevStateCost = nextStateCost;
70  }
71  si_->freeState(test2);
72  }
73 
74  // Lastly, add s2
75  totalCost.v += this->trapezoid(prevStateCost, this->stateCost(s2),
76  si_->distance(test1, s2)).v;
77 
78  si_->freeState(test1);
79 
80  return totalCost;
81  }
82  else
83  return this->trapezoid(this->stateCost(s1), this->stateCost(s2),
84  si_->distance(s1, s2));
85 }
86 
88 {
89  return interpolateMotionCost_;
90 }
std::string description_
The description of this optimization objective.
bool isMotionCostInterpolationEnabled(void) const
Returns whether this objective subdivides motions into smaller segments for more accurate motion cost...
double v
The value of the cost.
Definition: Cost.h:52
virtual Cost motionCost(const State *s1, const State *s2) const
Compute the cost of a path segment from s1 to s2 (including endpoints)
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
A boost shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
StateCostIntegralObjective(const SpaceInformationPtr &si, bool enableMotionCostInterpolation=false)
If enableMotionCostInterpolation is set to true, then calls to motionCost() will divide the motion se...
Abstract definition of optimization objectives.