-
Notifications
You must be signed in to change notification settings - Fork 1
/
ControlDurationObjective_8cpp_source.html
248 lines (246 loc) · 26.1 KB
/
ControlDurationObjective_8cpp_source.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<meta name="generator" content="Doxygen 1.8.17"/>
<title>ompl/base/objectives/src/ControlDurationObjective.cpp Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script src="jquery.js"></script>
<script src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function() { init_search(); });
/* @license-end */
</script>
<script type="text/x-mathjax-config">
MathJax.Hub.Config({
extensions: ["tex2jax.js", "TeX/AMSmath.js", "TeX/AMSsymbols.js"],
jax: ["input/TeX","output/HTML-CSS"],
});
</script>
<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/MathJax.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
<link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/css/bootstrap.min.css" integrity="sha384-ggOyR0iXCbMQv3Xipma34MD+dH/1fQ784/j6cY/iJTQUOhcWr7x9JvoRxT2MZw1T" crossorigin="anonymous">
<link href="ompl.css" rel="stylesheet">
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<nav class="navbar navbar-expand-md fixed-top navbar-dark">
<a class="navbar-brand" href="./index.html">OMPL</a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbar">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse" id="navbar">
<ul class="navbar-nav mr-auto">
<li class="nav-item"><a class="nav-link" href="download.html">Download</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="docDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Documentation</a>
<div class="dropdown-menu" aria-labelledby="docDropdown">
<a class="dropdown-item" href="https://ompl.kavrakilab.org/OMPL_Primer.pdf">Primer</a>
<a class="dropdown-item" href="installation.html">Installation</a>
<a class="dropdown-item" href="tutorials.html">Tutorials</a>
<a class="dropdown-item" href="group__demos.html">Demos</a>
<a class="dropdown-item omplapp" href="gui.html">OMPL.app GUI</a>
<a class="dropdown-item omplapp" href="webapp.html">OMPL web app</a>
<a class="dropdown-item" href="python.html">Python Bindings</a>
<a class="dropdown-item" href="planners.html">Available Planners</a>
<a class="dropdown-item" href="plannerTerminationConditions.html">Planner Termination Conditions</a>
<a class="dropdown-item" href="benchmark.html">Benchmarking Planners</a>
<a class="dropdown-item" href="spaces.html">Available State Spaces</a>
<a class="dropdown-item" href="optimalPlanning.html">Optimal Planning</a>
<a class="dropdown-item" href="constrainedPlanning.html">Constrained Planning</a>
<a class="dropdown-item" href="multiLevelPlanning.html">Multilevel Planning</a>
<a class="dropdown-item" href="FAQ.html">FAQ</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">External links</div>
<a class="dropdown-item" href="http://moveit.ros.org">MoveIt</a>
<a class="dropdown-item" href="http://plannerarena.org">Planner Arena</a>
<a class="dropdown-item" href="https://moveit.ros.org//moveit!/ros/2013/05/07/icra-motion-planning-tutorial.html">ICRA 2013 Tutorial</a>
<a class="dropdown-item" href="http://kavrakilab.org/iros2011/">IROS 2011 Tutorial</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="gallery.html">Gallery</a></li>
<li class="nav-item"><a class="nav-link" href="integration.html">OMPL Integrations</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="codeDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Code</a>
<div class="dropdown-menu" aria-labelledby="codeDropdown">
<a class="dropdown-item" href="api_overview.html">API Overview</a>
<a class="dropdown-item" href="annotated.html">Classes</a>
<a class="dropdown-item" href="files.html">Files</a>
<a class="dropdown-item" href="styleGuide.html">Style Guide</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">Repositories</div>
<a class="dropdown-item" href="https://github.com/ompl/ompl">ompl on GitHub</a>
<a class="dropdown-item" href="https://github.com/ompl/omplapp">omplapp on GitHub</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">Continuous Integration</div>
<a class="dropdown-item" href="https://travis-ci.org/ompl/ompl">ompl on Travis CI (Linux/macOS)</a>
<a class="dropdown-item" href="https://travis-ci.org/ompl/omplapp">omplapp on Travis CI (Linux/macOS)</a>
<a class="dropdown-item" href="https://ci.appveyor.com/project/mamoll/ompl">ompl on AppVeyor CI (Windows)</a>
<a class="dropdown-item" href="https://ci.appveyor.com/project/mamoll/omplapp">omplapp on AppVeyor CI (Windows)</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="https://github.com/ompl/ompl/issues">Issues</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="communityDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Community</a>
<div class="dropdown-menu" aria-labelledby="communityDropdown">
<a class="dropdown-item" href="support.html">Get Support</a>
<a class="dropdown-item" href="developers.html">Developers/Contributors</a>
<a class="dropdown-item" href="contrib.html">Submit a Contribution</a>
<a class="dropdown-item" href="education.html">Education</a>
</div>
</li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="aboutDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">About</a>
<div class="dropdown-menu" aria-labelledby="aboutDropdown">
<a class="dropdown-item" href="license.html">License</a>
<a class="dropdown-item" href="citations.html">Citations</a>
<a class="dropdown-item" href="acknowledgements.html">Acknowledgments</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="https://ompl.kavrakilab.org/blog.html">Blog</a></li>
</ul>
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<img id="MSearchSelect" src="search/mag_sel.png"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
alt=""/>
<input type="text" id="MSearchField" value="Search" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
</span>
</div>
</div>
</nav>
<div class="container" role="main">
<div>
<!-- Generated by Doxygen 1.8.17 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search');
/* @license-end */
</script>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_efdc19d105c21b1223d5f8dc524071be.html">ompl</a></li><li class="navelem"><a class="el" href="dir_06e181af1f5888faac16991b57afb430.html">base</a></li><li class="navelem"><a class="el" href="dir_8bcc77003b59cbf75e0083e6be35f2e5.html">objectives</a></li><li class="navelem"><a class="el" href="dir_18e3c6e9c306012e6e738993ea616661.html">src</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle">
<div class="title">ControlDurationObjective.cpp</div> </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2010, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Wolfgang Hönig */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "ompl/base/objectives/ControlDurationObjective.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ControlDurationObjective.html#ac65b030d118ee6be7d5a9ce35f02afba"> 39</a></span> <a class="code" href="classompl_1_1base_1_1ControlDurationObjective.html#ac65b030d118ee6be7d5a9ce35f02afba">ompl::base::ControlDurationObjective::ControlDurationObjective</a>(<span class="keyword">const</span> control::SpaceInformationPtr &si)</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  : <a class="code" href="classompl_1_1base_1_1OptimizationObjective.html">OptimizationObjective</a>(si)</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> {</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classompl_1_1base_1_1OptimizationObjective.html#a0782ddb1c3cd4d656e4c0bae7f2caa37">description_</a> = <span class="stringliteral">"Control Duration"</span>;</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classompl_1_1base_1_1ControlDurationObjective.html#a9ba373b43285e9586ce7b5a9a2d9719a">dt_</a> = si->getPropagationStepSize();</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> }</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ControlDurationObjective.html#a82c3dabb8a37fe8c1e064ca4485717ac"> 46</a></span> <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> <a class="code" href="classompl_1_1base_1_1ControlDurationObjective.html#a82c3dabb8a37fe8c1e064ca4485717ac">ompl::base::ControlDurationObjective::stateCost</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *)<span class="keyword"> const</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Cost.html">Cost</a>(0.0);</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> }</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ControlDurationObjective.html#ab913c2284ed800b85c40da9a8395d47d"> 51</a></span> <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> <a class="code" href="classompl_1_1base_1_1ControlDurationObjective.html#ab913c2284ed800b85c40da9a8395d47d">ompl::base::ControlDurationObjective::motionCost</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *)<span class="keyword"> const</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Cost.html">Cost</a>(0.0);</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> }</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ControlDurationObjective.html#a20e6ba327578a4e40cb3d704479484d6"> 56</a></span> <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> <a class="code" href="classompl_1_1base_1_1ControlDurationObjective.html#a20e6ba327578a4e40cb3d704479484d6">ompl::base::ControlDurationObjective::controlCost</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html">control::Control</a> *,</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> steps)<span class="keyword"> const</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Cost.html">Cost</a>(steps * dt_);</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1control_1_1Control_html"><div class="ttname"><a href="classompl_1_1control_1_1Control.html">ompl::control::Control</a></div><div class="ttdoc">Definition of an abstract control.</div><div class="ttdef"><b>Definition:</b> <a href="Control_8h_source.html#l00111">Control.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition:</b> <a href="State_8h_source.html#l00113">State.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ControlDurationObjective_html_ab913c2284ed800b85c40da9a8395d47d"><div class="ttname"><a href="classompl_1_1base_1_1ControlDurationObjective.html#ab913c2284ed800b85c40da9a8395d47d">ompl::base::ControlDurationObjective::motionCost</a></div><div class="ttdeci">Cost motionCost(const State *s1, const State *s2) const override</div><div class="ttdoc">Returns a cost with a value of 0.</div><div class="ttdef"><b>Definition:</b> <a href="ControlDurationObjective_8cpp_source.html#l00051">ControlDurationObjective.cpp:51</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ControlDurationObjective_html_a20e6ba327578a4e40cb3d704479484d6"><div class="ttname"><a href="classompl_1_1base_1_1ControlDurationObjective.html#a20e6ba327578a4e40cb3d704479484d6">ompl::base::ControlDurationObjective::controlCost</a></div><div class="ttdeci">Cost controlCost(const control::Control *c, unsigned int steps) const override</div><div class="ttdoc">Returns the cost with the value of steps*dt.</div><div class="ttdef"><b>Definition:</b> <a href="ControlDurationObjective_8cpp_source.html#l00056">ControlDurationObjective.cpp:56</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Cost_html"><div class="ttname"><a href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a></div><div class="ttdoc">Definition of a cost value. Can represent the cost of a motion or the cost of a state.</div><div class="ttdef"><b>Definition:</b> <a href="Cost_8h_source.html#l00111">Cost.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1OptimizationObjective_html"><div class="ttname"><a href="classompl_1_1base_1_1OptimizationObjective.html">ompl::base::OptimizationObjective</a></div><div class="ttdoc">Abstract definition of optimization objectives.</div><div class="ttdef"><b>Definition:</b> <a href="OptimizationObjective_8h_source.html#l00138">OptimizationObjective.h:138</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ControlDurationObjective_html_ac65b030d118ee6be7d5a9ce35f02afba"><div class="ttname"><a href="classompl_1_1base_1_1ControlDurationObjective.html#ac65b030d118ee6be7d5a9ce35f02afba">ompl::base::ControlDurationObjective::ControlDurationObjective</a></div><div class="ttdeci">ControlDurationObjective(const control::SpaceInformationPtr &si)</div><div class="ttdoc">Requires a control::SpaceInformationPtr to access dt.</div><div class="ttdef"><b>Definition:</b> <a href="ControlDurationObjective_8cpp_source.html#l00039">ControlDurationObjective.cpp:39</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1OptimizationObjective_html_a0782ddb1c3cd4d656e4c0bae7f2caa37"><div class="ttname"><a href="classompl_1_1base_1_1OptimizationObjective.html#a0782ddb1c3cd4d656e4c0bae7f2caa37">ompl::base::OptimizationObjective::description_</a></div><div class="ttdeci">std::string description_</div><div class="ttdoc">The description of this optimization objective.</div><div class="ttdef"><b>Definition:</b> <a href="OptimizationObjective_8h_source.html#l00259">OptimizationObjective.h:259</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ControlDurationObjective_html_a82c3dabb8a37fe8c1e064ca4485717ac"><div class="ttname"><a href="classompl_1_1base_1_1ControlDurationObjective.html#a82c3dabb8a37fe8c1e064ca4485717ac">ompl::base::ControlDurationObjective::stateCost</a></div><div class="ttdeci">Cost stateCost(const State *s) const override</div><div class="ttdoc">Returns a cost with a value of 0.</div><div class="ttdef"><b>Definition:</b> <a href="ControlDurationObjective_8cpp_source.html#l00046">ControlDurationObjective.cpp:46</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ControlDurationObjective_html_a9ba373b43285e9586ce7b5a9a2d9719a"><div class="ttname"><a href="classompl_1_1base_1_1ControlDurationObjective.html#a9ba373b43285e9586ce7b5a9a2d9719a">ompl::base::ControlDurationObjective::dt_</a></div><div class="ttdeci">double dt_</div><div class="ttdoc">Duration of each control step.</div><div class="ttdef"><b>Definition:</b> <a href="ControlDurationObjective_8h_source.html#l00163">ControlDurationObjective.h:163</a></div></div>
</div>
<footer class="footer">
<div class="container">
<a href="http://www.kavrakilab.org">Kavraki Lab</a> •
<a href="https://www.cs.rice.edu">Department of Computer Science</a> •
<a href="https://www.rice.edu">Rice University</a><br/>
Funded in part by the <a href="https://www.nsf.gov">National Science Foundation</a><br/>
Documentation generated by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.8.17
</div>
</footer>
<script>
(function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
(i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
})(window,document,'script','//www.google-analytics.com/analytics.js','ga');
ga('create', 'UA-9156598-2', 'auto');
ga('send', 'pageview');
</script>
<script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
<script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
</body>
</html>