MinimaxObjective.h
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34 
35 /* Author: Luis G. Torres */
36 
37 #ifndef OMPL_BASE_OBJECTIVES_MINIMAX_OBJECTIVE_
38 #define OMPL_BASE_OBJECTIVES_MINIMAX_OBJECTIVE_
39 
40 #include "ompl/base/OptimizationObjective.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
50  {
51  public:
53 
55  Cost stateCost(const State *s) const override;
56 
60  Cost motionCost(const State *s1, const State *s2) const override;
61 
65  Cost combineCosts(Cost c1, Cost c2) const override;
66  };
67  }
68 }
69 
70 #endif
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
The cost of a path is defined as the worst state cost over the entire path. This objective attempts t...
Cost combineCosts(Cost c1, Cost c2) const override
Since we're only concerned about the "worst" state cost in the path, combining two costs just returns...
Cost stateCost(const State *s) const override
Returns a cost with a value of 1.
Cost motionCost(const State *s1, const State *s2) const override
Interpolates between s1 and s2 to check for state costs along the motion between the two states....
Abstract definition of optimization objectives.
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
Main namespace. Contains everything in this library.
Definition: AppBase.h:22