37 #ifndef OMPL_BASE_OBJECTIVES_MAXIMIZE_MIN_CLEARANCE_OBJECTIVE_
38 #define OMPL_BASE_OBJECTIVES_MAXIMIZE_MIN_CLEARANCE_OBJECTIVE_
40 #include "ompl/base/objectives/MinimaxObjective.h"
virtual Cost identityCost(void) const
Returns +infinity, since any cost combined with +infinity under this objective will always return the...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
virtual Cost stateCost(const State *s) const
Defined as the clearance of the state s, which is computed using the StateValidityChecker in this obj...
Objective for attempting to maximize the minimum clearance along a path.
virtual bool isCostBetterThan(Cost c1, Cost c2) const
Since we wish to maximize clearance, and costs are equivalent to path clearance, we return the greate...
Definition of an abstract state.
virtual Cost infiniteCost(void) const
Returns -infinity, since no path clearance value can be considered worse than this.
The cost of a path is defined as the worst state cost over the entire path. This objective attempts t...