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PathLengthOptimizationObjective.cpp
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34 
35 /* Author: Luis G. Torres */
36 
37 #include "ompl/base/objectives/PathLengthOptimizationObjective.h"
38 
39 ompl::base::PathLengthOptimizationObjective::
40 PathLengthOptimizationObjective(const SpaceInformationPtr &si) :
41  ompl::base::OptimizationObjective(si)
42 {
43  description_ = "Path Length";
44 }
45 
48 {
49  return Cost(si_->distance(s1, s2));
50 }
51 
54  const State *s2) const
55 {
56  return motionCost(s1, s2);
57 }
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: Cost.h:47
Definition of an abstract state.
Definition: State.h:50
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...