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/* Author: Luis G. Torres */

#ifndef OMPL_BASE_OBJECTIVES_MECHANICAL_WORK_OPTIMIZATION_OBJECTIVE_
#define OMPL_BASE_OBJECTIVES_MECHANICAL_WORK_OPTIMIZATION_OBJECTIVE_

#include "ompl/base/OptimizationObjective.h"

namespace ompl
{
    namespace base
    {
        /** \brief An optimization objective which defines path cost using the idea of mechanical work. To be used in conjunction with TRRT. */
        class MechanicalWorkOptimizationObjective : public OptimizationObjective
        {
        public:
            /** \brief The mechanical work formulation requires a weighing factor to use for the length of a path in order to disambiguate optimal paths. This weighing factor should be small. The default value for this weight is 0.00001. */
            MechanicalWorkOptimizationObjective(const SpaceInformationPtr &si,
                                                double pathLengthWeight = 0.00001);

            /** \brief Set the factor to use for weighing path length in the mechanical work objective formulation. */
            virtual double getPathLengthWeight() const;

            /** \brief Returns a cost with a value of 1. */
            virtual Cost stateCost(const State *s) const;

            /** \brief Defines motion cost in terms of the mechanical work formulation used for TRRT. */
            virtual Cost motionCost(const State *s1, const State *s2) const;

        protected:
            /** \brief The weighing factor for the path length in the mechanical work objective formulation. */
            double pathLengthWeight_;
        };
    }
}

#endif
