Program Listing for File IntensityMapOptimizationObjective.h

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/*
 *   Copyright (c) 2019 Chittaranjan Srinivas Swaminathan
 *   This file is part of ompl_mod_objectives.
 *
 *   ompl_mod_objectives is free software: you can redistribute it and/or modify
 *   it under the terms of the GNU Lesser General Public License as published by
 *   the Free Software Foundation, either version 3 of the License, or
 *   (at your option) any later version.
 *
 *   ompl_mod_objectives is distributed in the hope that it will be useful,
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *   GNU Lesser General Public License for more details.
 *
 *   You should have received a copy of the GNU Lesser General Public License
 *   along with ompl_planners_ros.  If not, see <https://www.gnu.org/licenses/>.
 */

#pragma once

#include <ompl/mod/objectives/MoDOptimizationObjective.h>

#include <Eigen/Dense>
#include <array>
#include <functional>
#include <mod/cliffmap.hpp>

namespace ompl::MoD {

class IntensityMapOptimizationObjective : public MoDOptimizationObjective {
 protected:
  ::MoD::IntensityMap intensity_map_;

 public:
  IntensityMapOptimizationObjective(const ompl::base::SpaceInformationPtr &si,
                                    const std::string &file_name,
                                    double wd,
                                    double wq,
                                    double wc,
                                    std::string sampler_type,
                                    double sampler_bias,
                                    bool uniform_valid,
                                    bool sampler_debug);

  ~IntensityMapOptimizationObjective() override = default;

  inline bool isSymmetric() const override { return false; }

  ompl::base::Cost stateCost(const ompl::base::State *s) const override;

  ompl::base::Cost motionCost(const ompl::base::State *s1, const ompl::base::State *s2) const override;

  ompl::base::Cost motionCostHeuristic(const ompl::base::State *s1, const ompl::base::State *s2) const override;
};

typedef std::shared_ptr<IntensityMapOptimizationObjective> IntensityMapOptimizationObjectivePtr;

}  // namespace ompl