MaximizeMinClearanceObjective.cpp
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34 
35 /* Author: Luis G. Torres */
36 
37 #include "ompl/base/objectives/MaximizeMinClearanceObjective.h"
38 #include "ompl/tools/config/MagicConstants.h"
39 #include <limits>
40 
41 ompl::base::MaximizeMinClearanceObjective::MaximizeMinClearanceObjective(const SpaceInformationPtr &si)
42  : MinimaxObjective(si)
43 {
44  this->setCostThreshold(Cost(std::numeric_limits<double>::infinity()));
45 }
46 
48 {
49  return Cost(si_->getStateValidityChecker()->clearance(s));
50 }
51 
53 {
54  return c1.value() > c2.value();
55 }
56 
58 {
59  return Cost(std::numeric_limits<double>::infinity());
60 }
61 
63 {
64  return Cost(-std::numeric_limits<double>::infinity());
65 }
void setCostThreshold(Cost c)
Set the cost threshold for objective satisfaction. When a path is found with a cost better than the c...
Definition of an abstract state.
Definition: State.h:49
bool isCostBetterThan(Cost c1, Cost c2) const override
Since we wish to maximize clearance, and costs are equivalent to path clearance, we return the greate...
Cost stateCost(const State *s) const override
Defined as the clearance of the state s, which is computed using the StateValidityChecker in this obj...
double value() const
The value of the cost.
Definition: Cost.h:56
Cost identityCost() const override
Returns +infinity, since any cost combined with +infinity under this objective will always return the...
SpaceInformationPtr si_
The space information for this objective.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
Cost infiniteCost() const override
Returns -infinity, since no path clearance value can be considered worse than this.