OptimalPlanning.cpp
virtual Cost stateCost(const State *s) const
Returns a cost with a value of 1.
Definition: StateCostIntegralObjective.cpp:48
A boost shared pointer wrapper for ompl::base::ProblemDefinition.
This class allows for the definition of multiobjective optimal planning problems. Objectives are adde...
Definition: OptimizationObjective.h:155
A boost shared pointer wrapper for ompl::base::StateSpace.
void addObjective(const OptimizationObjectivePtr &objective, double weight)
Adds a new objective for this multiobjective. A weight must also be specified for specifying importan...
Definition: OptimizationObjective.cpp:165
virtual double clearance(const State *) const
Report the distance to the nearest invalid state when starting from state. If the distance is negativ...
Definition: StateValidityChecker.h:135
A boost shared pointer wrapper for ompl::base::StateValidityChecker.
A boost shared pointer wrapper for ompl::base::Planner.
Defines optimization objectives where path cost can be represented as a path integral over a cost fun...
Definition: StateCostIntegralObjective.h:51
Abstract definition for a class checking the validity of states. The implementation of this class mus...
Definition: StateValidityChecker.h:93
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A boost shared pointer wrapper for ompl::base::SpaceInformation.
A state space representing Rn. The distance function is the L2 norm.
Definition: RealVectorStateSpace.h:75
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:86
An optimization objective which corresponds to optimizing path length.
Definition: PathLengthOptimizationObjective.h:47
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
virtual bool isValid(const State *state) const =0
Return true if the state state is valid. Usually, this means at least collision checking. If it is possible that ompl::base::StateSpace::interpolate() or ompl::control::ControlSpace::propagate() return states that are outside of bounds, this function should also make a call to ompl::base::SpaceInformation::satisfiesBounds().
Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...
Definition: ProblemDefinition.h:150
A boost shared pointer wrapper for ompl::base::OptimizationObjective.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
This namespace contains code that is specific to planning under geometric constraints.
Definition: GeneticSearch.h:48