Class DTCOptimizationObjective

Inheritance Relationships

Base Type

Class Documentation

class DTCOptimizationObjective : public ompl::MoD::MoDOptimizationObjective

The optimization objective class for DownTheCLiFF cost. This is a multi-optimization objective but doens’t derive from the corresponding OMPL class.

Public Functions

DTCOptimizationObjective(const ompl::base::SpaceInformationPtr &si, const ::MoD::CLiFFMap &cliffmap, double wd, double wq, double wc, double maxvs, double mahalanobis_distance_threshold = 10.0, bool use_mixing_factor = true, const std::string &sampler_type = "", const std::string &intensity_map_file_name = "", double bias = 0.05, bool uniform_valid = false, bool debug = false)

Constructor

Parameters:

si – SpaceInformationPtr that we get from the problem setup.

DTCOptimizationObjective(const ompl::base::SpaceInformationPtr &si, const std::string &cliffmap_file_name, const std::string &intensity_map_file_name, double wd, double wq, double wc, double maxvs, double mahalanobis_distance_threshold = 10.0, bool use_mixing_factor = true, const std::string &sampler_type = "", double bias = 0.05, bool uniform_valid = false, bool debug = false)
~DTCOptimizationObjective() override = default
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
inline void setMahalanobisDistanceThreshold(double mahalanobis_distance_threshold)
ompl::base::Cost motionCostHeuristic(const ompl::base::State *s1, const ompl::base::State *s2) const override