42 namespace ompl
Objective for attempting to maximize the minimum clearance along a path.
A shared pointer wrapper for ompl::base::SpaceInformation.
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.
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.