SmoothnessOptimizationObjective Class Reference

An optimization objective for minimizing OMPL's smoothness. More...

#include <OptimizationObjective.h>

Inheritance diagram for SmoothnessOptimizationObjective:

Collaboration diagram for SmoothnessOptimizationObjective:

Public Member Functions
	SmoothnessOptimizationObjective (ob::SpaceInformationPtr &space_info)
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 smoothness between the path between s1 and s2 . More...

Detailed Description

An optimization objective for minimizing OMPL's smoothness.

Note, that this is only supported for geometric motion planning. Since OMPL does not implement smoothness for PathControl.

Constructor & Destructor Documentation

SmoothnessOptimizationObjective()

SmoothnessOptimizationObjective::SmoothnessOptimizationObjective ( ob::SpaceInformationPtr &  space_info )

inline

Member Function Documentation

motionCost()

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

override

Motion cost for this objective is defined as the smoothness between the path between s1 and s2 .

stateCost()

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

override

Returns identity cost.

---

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

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