MaximizeMinClearanceObjective.h

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/* Author: Luis G. Torres */
 
#ifndef OMPL_BASE_OBJECTIVES_MAXIMIZE_MIN_CLEARANCE_OBJECTIVE_
#define OMPL_BASE_OBJECTIVES_MAXIMIZE_MIN_CLEARANCE_OBJECTIVE_
 
#include "ompl/base/objectives/MinimaxObjective.h"
 
namespace ompl
{
    namespace base
    {
        class MaximizeMinClearanceObjective : public MinimaxObjective
        {
        public:
            MaximizeMinClearanceObjective(const SpaceInformationPtr &si);
 
            Cost stateCost(const State *s) const override;
 
            bool isCostBetterThan(Cost c1, Cost c2) const override;
 
            Cost identityCost() const override;
 
            Cost infiniteCost() const override;
        };
    }
}
 
#endif