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MinimaxObjective.cpp
39ompl::base::MinimaxObjective::MinimaxObjective(const SpaceInformationPtr &si) : OptimizationObjective(si)
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
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...
Definition MinimaxObjective.cpp:75
Cost stateCost(const State *s) const override
Returns a cost with a value of 1.
Definition MinimaxObjective.cpp:43
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 MinimaxObjective.cpp:48
virtual Cost identityCost() const
Get the identity cost value. The identity cost value is the cost c_i such that, for all costs c,...
Definition OptimizationObjective.cpp:101
virtual bool isCostBetterThan(Cost c1, Cost c2) const
Check whether the the cost c1 is considered better than the cost c2. By default, this returns true if...
Definition OptimizationObjective.cpp:70
SpaceInformationPtr si_
The space information for this objective.
Definition OptimizationObjective.h:192
A shared pointer wrapper for ompl::base::SpaceInformation.