Class MoDOptimizationObjective

Defined in File MoDOptimizationObjective.h

Inheritance Relationships

Base Type

public ompl::base::OptimizationObjective

Derived Types

public ompl::MoD::DTCOptimizationObjective (Class DTCOptimizationObjective)
public ompl::MoD::IntensityMapOptimizationObjective (Class IntensityMapOptimizationObjective)
public ompl::MoD::UpstreamCriterionOptimizationObjective (Class UpstreamCriterionOptimizationObjective)

Class Documentation

class MoDOptimizationObjective : public ompl::base::OptimizationObjective

Subclassed by ompl::MoD::DTCOptimizationObjective, ompl::MoD::IntensityMapOptimizationObjective, ompl::MoD::UpstreamCriterionOptimizationObjective

Public Functions

inline double getLastCostD() const

inline double getLastCostQ() const

inline double getLastCostC() const

inline Cost getLastCost() const

inline void setDijkstraCellSize(double cell_size)

inline double getDijkstraCellSize() const

virtual ompl::base::Cost motionCost(const ompl::base::State *s1, const ompl::base::State *s2) const override = 0

inline ompl::base::InformedSamplerPtr allocInformedStateSampler(const ompl::base::ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls) const override

inline std::string getMapTypeStr() const

inline MapType getMapType() const

Protected Functions

inline MoDOptimizationObjective(const ompl::base::SpaceInformationPtr &si, double weight_d, double weight_q, double weight_c, MapType map_type, std::string sampler_type = "", std::string intensity_map_file_name = "", double sampler_bias = 0.05, bool uniform_valid = false, bool sampler_debug = false)

Protected Attributes

double weight_d_: The weight associated with Euclidean distance cost.

double weight_q_: The weight associated with quaternion distance cost.

double weight_c_: The weight associated with Down-The-CLiFF cost.

mutable Cost last_cost_

MapType map_type_ = {MapType::NOTSET}

std::string informed_sampler_type_

std::string intensity_map_file_name_

double sampler_bias_ = {0.05}

bool sampler_debug_ = {false}

bool uniform_valid_ = {false}

double dijkstra_cell_size_ = {0.1}