MaximizeMinClearanceObjective.cpp
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
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  description_ = "Maximizing Minimum Clearance";
46 }
47 
49 {
50  return Cost(si_->getStateValidityChecker()->clearance(s));
51 }
52 
54 {
55  return c1.value() > c2.value();
56 }
57 
59 {
60  return Cost(std::numeric_limits<double>::infinity());
61 }
62 
64 {
65  return Cost(-std::numeric_limits<double>::infinity());
66 }
A shared pointer wrapper for ompl::base::SpaceInformation.
Cost stateCost(const State *s) const override
Defined as the clearance of the state s, which is computed using the StateValidityChecker in this obj...
Definition of an abstract state.
Definition: State.h:113
Cost identityCost() const override
Returns +infinity, since any cost combined with +infinity under this objective will always return the...
double value() const
The value of the cost.
Definition: Cost.h:152
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:111
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...
std::string description_
The description of this optimization objective.
void setCostThreshold(Cost c)
Set the cost threshold for objective satisfaction. When a path is found with a cost better than the c...
Cost infiniteCost() const override
Returns -infinity, since no path clearance value can be considered worse than this.