Abstract definition of optimization objectives. More...
#include <OptimizationObjective.h>
Public Member Functions | |
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 bool | isSatisfied (double totalObjectiveCost) const =0 |
Verify that our objective is satisfied already and we can stop planning (it the cost is totalObjectiveCost) | |
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 | getTerminalCost (const State *s) const =0 |
Get the cost that corresponds to the final state on the path (that satisfies the goal) | |
virtual double | combineObjectiveCosts (double a, double b) const =0 |
Get the cost that corresponds to combining the costs a and b. | |
virtual double | getCost (const PathPtr &path) const |
Get the cost that corresponds to the sequence of motion segments defined by states. | |
Protected Attributes | |
SpaceInformationPtr | si_ |
The space information for this objective. | |
std::string | description_ |
The description of this optimization objective. | |
Abstract definition of optimization objectives.
Definition at line 62 of file OptimizationObjective.h.