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MinimaxObjective.h
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34
35/* Author: Luis G. Torres */
36
37#ifndef OMPL_BASE_OBJECTIVES_MINIMAX_OBJECTIVE_
38#define OMPL_BASE_OBJECTIVES_MINIMAX_OBJECTIVE_
39
40#include "ompl/base/OptimizationObjective.h"
41
42namespace ompl
43{
44 namespace base
45 {
49 class MinimaxObjective : public OptimizationObjective
50 {
51 public:
52 MinimaxObjective(const SpaceInformationPtr &si);
53
55 Cost stateCost(const State *s) const override;
56
60 Cost motionCost(const State *s1, const State *s2) const override;
61
65 Cost combineCosts(Cost c1, Cost c2) 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
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.
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....
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Main namespace. Contains everything in this library.