MinimaxObjective.cpp
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34 
35 /* Author: Luis G. Torres */
36 
37 #include "ompl/base/objectives/MinimaxObjective.h"
38 
39 ompl::base::MinimaxObjective::MinimaxObjective(const SpaceInformationPtr &si) : OptimizationObjective(si)
40 {
41 }
42 
44 {
45  return Cost(1.0);
46 }
47 
49 {
50  Cost worstCost = this->identityCost();
51 
52  int nd = si_->getStateSpace()->validSegmentCount(s1, s2);
53 
54  if (nd > 1)
55  {
56  State *test = si_->allocState();
57  for (int j = 1; j < nd; ++j)
58  {
59  si_->getStateSpace()->interpolate(s1, s2, (double)j / (double)nd, test);
60  Cost testStateCost = this->stateCost(test);
61  if (this->isCostBetterThan(worstCost, testStateCost))
62  worstCost = testStateCost;
63  }
64  si_->freeState(test);
65  }
66 
67  // Lastly, check s2
68  Cost lastCost = this->stateCost(s2);
69  if (this->isCostBetterThan(worstCost, lastCost))
70  worstCost = lastCost;
71 
72  return worstCost;
73 }
74 
76 {
77  return this->isCostBetterThan(c1, c2) ? c2 : c1;
78 }
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:113
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....
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:111
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.