MinimaxObjective.h
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 #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
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 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...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:49
Cost stateCost(const State *s) const override
Returns a cost with a value of 1.
Abstract definition of optimization objectives.
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...