.. _program_listing_file_src_ompl_base_OptimizationObjective.h:

Program Listing for File OptimizationObjective.h
================================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_base_OptimizationObjective.h>` (``src/ompl/base/OptimizationObjective.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*********************************************************************
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2012, Willow Garage, Inc.
    *  All rights reserved.
    *
    *  Redistribution and use in source and binary forms, with or without
    *  modification, are permitted provided that the following conditions
    *  are met:
    *
    *   * Redistributions of source code must retain the above copyright
    *     notice, this list of conditions and the following disclaimer.
    *   * Redistributions in binary form must reproduce the above
    *     copyright notice, this list of conditions and the following
    *     disclaimer in the documentation and/or other materials provided
    *     with the distribution.
    *   * Neither the name of the Willow Garage nor the names of its
    *     contributors may be used to endorse or promote products derived
    *     from this software without specific prior written permission.
    *
    *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
    *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
    *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
    *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    *  POSSIBILITY OF SUCH DAMAGE.
    *********************************************************************/
   
   /* Author: Luis G. Torres, Ioan Sucan, Jonathan Gammell */
   
   #ifndef OMPL_BASE_OPTIMIZATION_OBJECTIVE_
   #define OMPL_BASE_OPTIMIZATION_OBJECTIVE_
   
   #include "ompl/base/Cost.h"
   #include "ompl/base/SpaceInformation.h"
   #include "ompl/util/ClassForward.h"
   #include "ompl/base/ProblemDefinition.h"
   #include "ompl/base/samplers/InformedStateSampler.h"
   // This is needed to correctly generate the python bindings
   #ifndef __castxml__
   #include "ompl/control/Control.h"
   #endif
   
   #include <functional>
   #include <iostream>
   
   namespace ompl
   {
       namespace base
       {
           class Goal;
   
           using CostToGoHeuristic = std::function<Cost(const State *, const Goal *)>;
   
   
           OMPL_CLASS_FORWARD(OptimizationObjective);
   
           class OptimizationObjective
           {
           public:
               // non-copyable
               OptimizationObjective(const OptimizationObjective &) = delete;
               OptimizationObjective &operator=(const OptimizationObjective &) = delete;
   
               OptimizationObjective(SpaceInformationPtr si);
   
               virtual ~OptimizationObjective() = default;
   
               const std::string &getDescription() const;
   
               virtual bool isSatisfied(Cost c) const;
   
               Cost getCostThreshold() const;
   
               void setCostThreshold(Cost c);
   
               virtual bool isCostBetterThan(Cost c1, Cost c2) const;
   
               virtual bool isCostEquivalentTo(Cost c1, Cost c2) const;
   
               virtual bool isFinite(Cost cost) const;
   
               virtual Cost betterCost(Cost c1, Cost c2) const;
   
               virtual Cost stateCost(const State *s) const = 0;
   
               virtual Cost motionCost(const State *s1, const State *s2) const = 0;
   
   // This is needed to correctly generate the python bindings
   #ifndef __castxml__
               virtual Cost controlCost(const control::Control *c, unsigned int steps) const;
   #endif
   
               virtual Cost combineCosts(Cost c1, Cost c2) const;
   
               virtual Cost subtractCosts(Cost c1, Cost c2) const;
   
               virtual Cost identityCost() const;
   
               virtual Cost infiniteCost() const;
   
               virtual Cost initialCost(const State *s) const;
   
               virtual Cost terminalCost(const State *s) const;
   
               virtual bool isSymmetric() const;
   
               virtual Cost averageStateCost(unsigned int numStates) const;
   
               void setCostToGoHeuristic(const CostToGoHeuristic &costToGo);
   
               bool hasCostToGoHeuristic() const;
   
               Cost costToGo(const State *state, const Goal *goal) const;
   
               virtual Cost motionCostHeuristic(const State *s1, const State *s2) const;
   
               virtual Cost motionCostBestEstimate(const State *s1, const State *s2) const;
   
               const SpaceInformationPtr &getSpaceInformation() const;
   
               virtual InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr &probDefn,
                                                                    unsigned int maxNumberCalls) const;
   
               virtual void print(std::ostream &out) const;
   
           protected:
               SpaceInformationPtr si_;
   
               std::string description_;
   
               Cost threshold_;
   
               CostToGoHeuristic costToGoFn_;
           };
   
           Cost goalRegionCostToGo(const State *state, const Goal *goal);
   
           class MultiOptimizationObjective : public OptimizationObjective
           {
           public:
               MultiOptimizationObjective(const SpaceInformationPtr &si);
   
               void addObjective(const OptimizationObjectivePtr &objective, double weight);
   
               std::size_t getObjectiveCount() const;
   
               const OptimizationObjectivePtr &getObjective(unsigned int idx) const;
   
               double getObjectiveWeight(unsigned int idx) const;
   
               void setObjectiveWeight(unsigned int idx, double weight);
   
               void lock();
   
               bool isLocked() const;
   
               Cost stateCost(const State *s) const override;
   
               Cost motionCost(const State *s1, const State *s2) const override;
   
           protected:
               struct Component
               {
                   Component(OptimizationObjectivePtr obj, double weight);
                   OptimizationObjectivePtr objective;
                   double weight;
               };
   
               std::vector<Component> components_;
   
               bool locked_;
   
               // Friend functions for operator overloads for easy multiobjective creation
               friend OptimizationObjectivePtr operator+(const OptimizationObjectivePtr &a,
                                                         const OptimizationObjectivePtr &b);
   
               friend OptimizationObjectivePtr operator*(double weight, const OptimizationObjectivePtr &a);
   
               friend OptimizationObjectivePtr operator*(const OptimizationObjectivePtr &a, double weight);
           };
   
           OptimizationObjectivePtr operator+(const OptimizationObjectivePtr &a, const OptimizationObjectivePtr &b);
   
           OptimizationObjectivePtr operator*(double weight, const OptimizationObjectivePtr &a);
   
           OptimizationObjectivePtr operator*(const OptimizationObjectivePtr &a, double weight);
       }  // namespace base
   }  // namespace ompl
   
   #endif