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OptimizationObjective.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/OptimizationObjective.h"
38 
40 {
41 }
42 
44 {
45  return path->cost(*this);
46 }
47 
49 {
50  return totalObjectiveCost <= maximumUpperBound_;
51 }
52 
54 {
55  return a + b;
56 }
57 
59 {
60  return 0.0;
61 }
62 
64 {
65  description_ = "Path Length";
66 }
67 
69 {
70  return si_->distance(s1, s2);
71 }
72 
74 {
75  description_ = "State Cost";
76 }
77 
79 {
80  double c;
81  std::pair<double, double> dummy;
82  si_->getMotionValidator()->computeMotionCost(s1, s2, c, dummy);
83  return c;
84 }