PathLengthOptimizationObjective.h

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/* Author: Luis G. Torres, Jonathan Gammell (allocInformedStateSampler) */

#ifndef OMPL_BASE_OBJECTIVES_PATH_LENGTH_OPTIMIZATION_OBJECTIVE_
#define OMPL_BASE_OBJECTIVES_PATH_LENGTH_OPTIMIZATION_OBJECTIVE_

#include "ompl/base/OptimizationObjective.h"

namespace ompl
{
    namespace base
    {
        class PathLengthOptimizationObjective : public OptimizationObjective
        {
        public:
            PathLengthOptimizationObjective(const SpaceInformationPtr &si);

            virtual Cost stateCost(const State *s) const;

            virtual Cost motionCost(const State *s1, const State *s2) const;

            virtual Cost motionCostHeuristic(const State *s1, const State *s2) const;

            virtual InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr probDefn, unsigned int maxNumberCalls) const;

        };
    }
}

#endif