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>
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) | |
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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. | |
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SpaceInformationPtr | si_ |
The space information for this objective. | |
std::string | description_ |
The description of this optimization objective. | |
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.