37 #include "ompl/base/objectives/PathLengthOptimizationObjective.h"
39 ompl::base::PathLengthOptimizationObjective::
40 PathLengthOptimizationObjective(
const SpaceInformationPtr &si) :
41 ompl::base::OptimizationObjective(si)
49 return Cost(si_->distance(s1, s2));
54 const State *s2)
const
56 return motionCost(s1, s2);
std::string description_
The description of this optimization objective.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition of an abstract state.
virtual Cost motionCost(const State *s1, const State *s2) const
Motion cost for this objective is defined as the configuration space distance between s1 and s2...
virtual Cost motionCostHeuristic(const State *s1, const State *s2) const
the motion cost heuristic for this objective is simply the configuration space distance between s1 an...