37 #ifndef OMPL_BASE_OBJECTIVES_MECHANICAL_WORK_OPTIMIZATION_OBJECTIVE_
38 #define OMPL_BASE_OBJECTIVES_MECHANICAL_WORK_OPTIMIZATION_OBJECTIVE_
40 #include "ompl/base/OptimizationObjective.h"
52 double pathLengthWeight = 0.00001);
virtual Cost motionCost(const State *s1, const State *s2) const
Defines motion cost in terms of the mechanical work formulation used for TRRT.
An optimization objective which defines path cost using the idea of mechanical work. To be used in conjunction with TRRT.
virtual double getPathLengthWeight(void) const
Set the factor to use for weighing path length in the mechanical work objective formulation.
MechanicalWorkOptimizationObjective(const SpaceInformationPtr &si, double pathLengthWeight=0.00001)
The mechanical work formulation requires a weighing factor to use for the length of a path in order t...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition of an abstract state.
Abstract definition of optimization objectives.
double pathLengthWeight_
The weighing factor for the path length in the mechanical work objective formulation.