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<div class="title">CostConvergenceTerminationCondition.cpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Henning Kayser, Mark Moll */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "ompl/base/terminationconditions/CostConvergenceTerminationCondition.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CostConvergenceTerminationCondition.html#a07cb180f828a509cf1e8cdd22e71b229"> 39</a></span> <a class="code" href="classompl_1_1base_1_1CostConvergenceTerminationCondition.html#a07cb180f828a509cf1e8cdd22e71b229">ompl::base::CostConvergenceTerminationCondition::CostConvergenceTerminationCondition</a>(</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ompl::base::ProblemDefinitionPtr</a> &pdef, <span class="keywordtype">size_t</span> solutionsWindow, <span class="keywordtype">double</span> epsilon)</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  : <a class="code" href="namespaceompl.html">ompl</a>::base::<a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">PlannerTerminationCondition</a>(<a class="code" href="namespaceompl.html">ompl</a>::base::<a class="code" href="namespaceompl_1_1base.html#a9ffbc7124ed20dc1331a8c6f40a8f05e">plannerNonTerminatingCondition</a>()),</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  pdef_(pdef),</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  solutionsWindow_(solutionsWindow),</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  epsilon_(epsilon)</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> {</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keyword">auto</span>& c = *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  pdef_->setIntermediateSolutionCallback(</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  [c](<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Planner.html">Planner</a>* <span class="comment">/*planner*/</span>, <span class="keyword">const</span> std::vector<const State*>& <span class="comment">/*states*/</span>, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Cost.html">Cost</a> cost) <span class="keyword">mutable</span> {</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  c.processNewSolution(cost);</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  });</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> }</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="keywordtype">void</span> ompl::base::CostConvergenceTerminationCondition::processNewSolution(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> solutionCost)</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> {</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  ++solutions_;</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordtype">size_t</span> solutions = std::min(solutions_, solutionsWindow_);</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordtype">double</span> newCost = ((solutions - 1) * averageCost_ + solutionCost.<a class="code" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>()) / solutions;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordtype">double</span> costLowerThreshold = (1. - epsilon_) * averageCost_;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordtype">double</span> costUpperThreshold = (1. + epsilon_) * averageCost_;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  averageCost_ = newCost;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">if</span> (solutions == solutionsWindow_ &&</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  averageCost_ > costLowerThreshold &&</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  averageCost_ < costUpperThreshold)</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  {</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"CostConvergenceTerminationCondition: Cost of optimizing planner converged after %lu solutions"</span>, solutions_);</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  terminate();</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  }</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html">ompl::base::Planner</a></div><div class="ttdoc">Base class for a planner.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00279">Planner.h:279</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Cost_html_a3cd5c47c10a591badea945b4fc84014c"><div class="ttname"><a href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">ompl::base::Cost::value</a></div><div class="ttdeci">double value() const</div><div class="ttdoc">The value of the cost.</div><div class="ttdef"><b>Definition:</b> <a href="Cost_8h_source.html#l00152">Cost.h:152</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Cost_html"><div class="ttname"><a href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a></div><div class="ttdoc">Definition of a cost value. Can represent the cost of a motion or the cost of a state.</div><div class="ttdef"><b>Definition:</b> <a href="Cost_8h_source.html#l00111">Cost.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CostConvergenceTerminationCondition_html_a07cb180f828a509cf1e8cdd22e71b229"><div class="ttname"><a href="classompl_1_1base_1_1CostConvergenceTerminationCondition.html#a07cb180f828a509cf1e8cdd22e71b229">ompl::base::CostConvergenceTerminationCondition::CostConvergenceTerminationCondition</a></div><div class="ttdeci">CostConvergenceTerminationCondition(ProblemDefinitionPtr &pdef, size_t solutionsWindow=10, double epsilon=0.1)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="CostConvergenceTerminationCondition_8cpp_source.html#l00039">CostConvergenceTerminationCondition.cpp:39</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerTerminationCondition_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a></div><div class="ttdoc">Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...</div><div class="ttdef"><b>Definition:</b> <a href="PlannerTerminationCondition_8h_source.html#l00127">PlannerTerminationCondition.h:127</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ProblemDefinitionPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ProblemDefinitionPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::ProblemDefinition.</div></div>
<div class="ttc" id="anamespaceompl_1_1base_html_a9ffbc7124ed20dc1331a8c6f40a8f05e"><div class="ttname"><a href="namespaceompl_1_1base.html#a9ffbc7124ed20dc1331a8c6f40a8f05e">ompl::base::plannerNonTerminatingCondition</a></div><div class="ttdeci">PlannerTerminationCondition plannerNonTerminatingCondition()</div><div class="ttdoc">Simple termination condition that always returns false. The termination condition will never be met.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerTerminationCondition_8cpp_source.html#l00182">PlannerTerminationCondition.cpp:182</a></div></div>
<div class="ttc" id="agroup__logging_html_ga576d0bc79b521f19c5415f330e2b173d"><div class="ttname"><a href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a></div><div class="ttdeci">#define OMPL_DEBUG(fmt,...)</div><div class="ttdoc">Log a formatted debugging string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00070">Console.h:70</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
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