An optimization objective for minimizing curvature of a path. More...

#include <OptimizationObjective.h>

Inheritance diagram for CurvatureOptimizationObjective:

Collaboration diagram for CurvatureOptimizationObjective:

Public Member Functions
	CurvatureOptimizationObjective (ob::SpaceInformationPtr &space_info, double max_curvature=std::numeric_limits< double >::max())

ob::Cost	stateCost (const ob::State *s) const override
	Returns identity cost. More...

ob::Cost	motionCost (const ob::State s1, const ob::State s2) const override
	Motion cost for this objective is defined as the sum of normalied curvature along the path. More...

Protected Attributes
double	max_curvature_

Detailed Description

An optimization objective for minimizing curvature of a path.

This optimization objective sums up the normalized curvature (see below) along the path. Hence, there is some implicit optimization of path length as well (i.e., there is no point in going a very long straight path).

The curvature is normalized by multiplying by the length of the segments such that this metric does not increase with higher path resolution.

The curvature can be capped at a specified value to deal with infinite curvature points in the path (i.e., cusps).

Constructor & Destructor Documentation

◆ CurvatureOptimizationObjective()

CurvatureOptimizationObjective::CurvatureOptimizationObjective	(	ob::SpaceInformationPtr &	space_info,
		double	max_curvature = `std::numeric_limits<double>::max()`
	)

inline

Member Function Documentation

◆ motionCost()

ob::Cost CurvatureOptimizationObjective::motionCost	(	const ob::State *	s1,
		const ob::State *	s2
	)		const

override

Motion cost for this objective is defined as the sum of normalied curvature along the path.

◆ stateCost()

ob::Cost CurvatureOptimizationObjective::stateCost ( const ob::State * s ) const

override

Returns identity cost.

Member Data Documentation

◆ max_curvature_

double CurvatureOptimizationObjective::max_curvature_

protected

The documentation for this class was generated from the following files:

src/utils/OptimizationObjective.h
src/utils/OptimizationObjective.cpp

Public Member Functions

Protected Attributes