MaximizeMinClearanceObjective.h
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34 
35 /* Author: Luis G. Torres */
36 
37 #ifndef OMPL_BASE_OBJECTIVES_MAXIMIZE_MIN_CLEARANCE_OBJECTIVE_
38 #define OMPL_BASE_OBJECTIVES_MAXIMIZE_MIN_CLEARANCE_OBJECTIVE_
39 
40 #include "ompl/base/objectives/MinimaxObjective.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
48  {
49  public:
51 
54  Cost stateCost(const State *s) const override;
55 
58  bool isCostBetterThan(Cost c1, Cost c2) const override;
59 
62  Cost identityCost() const override;
63 
65  Cost infiniteCost() const override;
66  };
67  }
68 }
69 
70 #endif
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Objective for attempting to maximize the minimum clearance along a path.
A shared pointer wrapper for ompl::base::SpaceInformation.
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...
Cost identityCost() const override
Returns +infinity, since any cost combined with +infinity under this objective will always return the...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
The cost of a path is defined as the worst state cost over the entire path. This objective attempts t...
Cost infiniteCost() const override
Returns -infinity, since no path clearance value can be considered worse than this.