Class UpstreamCriterionOptimizationObjective

• Defined in File UpstreamCriterionOptimizationObjective.h

Inheritance Relationships

Base Type

• public ompl::MoD::MoDOptimizationObjective (Class MoDOptimizationObjective)

Class Documentation

class UpstreamCriterionOptimizationObjective : public ompl::MoD::MoDOptimizationObjective

Public Functions

UpstreamCriterionOptimizationObjective(const ompl::base::SpaceInformationPtr &si, const ::MoD::GMMTMap &gmmtmap, float wd, float wq, float wc, const std::string &sampler_type, const std::string &intensity_map_file_name, double bias, bool uniform_valid, bool debug)

Todo:

: STeF Support UpstreamCriterionOptimizationObjective( const ompl::base::SpaceInformationPtr &si, const ::MoD::STeFMap &stefmap, float wd, float wq, float wc);

UpstreamCriterionOptimizationObjective(const ompl::base::SpaceInformationPtr &si, const ::MoD::CLiFFMap &cliffmap, const std::string &intensity_map_file_name, double wd, double wq, double wc, const std::string &sampler_type, double bias, bool uniform_valid, bool debug)

UpstreamCriterionOptimizationObjective(const ompl::base::SpaceInformationPtr &si, const ompl::MoD::MapType &map_type, const std::string &map_file_name, float wd, float wq, float wc, const std::string &sampler_type, const std::string &intensity_map_file_name, double bias, bool uniform_valid, bool debug)

inline bool isSymmetric() const override

ompl::base::Cost stateCost(const ompl::base::State *s) const override

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

double getGMMTMapCost(double x, double y, double alpha) const

double getCLiFFMapCost(double x, double y, double alpha) const

ompl::base::Cost motionCostHeuristic(const ompl::base::State *s1, const ompl::base::State *s2) const override

~UpstreamCriterionOptimizationObjective() override = default