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
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
Objective for attempting to maximize the minimum clearance along a path.
Cost infiniteCost() const override
Returns -infinity, since no path clearance value can be considered worse than this.
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...
The cost of a path is defined as the worst state cost over the entire path. This objective attempts t...
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
Main namespace. Contains everything in this library.