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MechanicalWorkOptimizationObjective.h
54 MechanicalWorkOptimizationObjective(const SpaceInformationPtr &si, double pathLengthWeight = 0.00001);
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
An optimization objective which defines path cost using the idea of mechanical work....
Definition MechanicalWorkOptimizationObjective.h:49
Cost motionCost(const State *s1, const State *s2) const override
Defines motion cost in terms of the mechanical work formulation used for TRRT.
Definition MechanicalWorkOptimizationObjective.cpp:56
virtual double getPathLengthWeight() const
Set the factor to use for weighing path length in the mechanical work objective formulation.
Definition MechanicalWorkOptimizationObjective.cpp:46
double pathLengthWeight_
The weighing factor for the path length in the mechanical work objective formulation.
Definition MechanicalWorkOptimizationObjective.h:67
Cost stateCost(const State *s) const override
Returns a cost with a value of 1.
Definition MechanicalWorkOptimizationObjective.cpp:51
Abstract definition of optimization objectives.
Definition OptimizationObjective.h:75
A shared pointer wrapper for ompl::base::SpaceInformation.
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66