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ControlDurationObjective.cpp
39ompl::base::ControlDurationObjective::ControlDurationObjective(const control::SpaceInformationPtr &si)
51ompl::base::Cost ompl::base::ControlDurationObjective::motionCost(const State *, const State *) const
Cost controlCost(const control::Control *c, unsigned int steps) const override
Returns the cost with the value of steps*dt.
Definition ControlDurationObjective.cpp:56
Cost stateCost(const State *s) const override
Returns a cost with a value of 0.
Definition ControlDurationObjective.cpp:46
Cost motionCost(const State *s1, const State *s2) const override
Returns a cost with a value of 0.
Definition ControlDurationObjective.cpp:51
ControlDurationObjective(const control::SpaceInformationPtr &si)
Requires a control::SpaceInformationPtr to access dt.
Definition ControlDurationObjective.cpp:39
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
Abstract definition of optimization objectives.
Definition OptimizationObjective.h:75
std::string description_
The description of this optimization objective.
Definition OptimizationObjective.h:195