Class MaximizeMinClearanceObjective

Defined in File MaximizeMinClearanceObjective.h

Inheritance Relationships

Base Type

public ompl::base::MinimaxObjective (Class MinimaxObjective)

Class Documentation

class MaximizeMinClearanceObjective : public ompl::base::MinimaxObjective 

Objective for attempting to maximize the minimum clearance along a path.

Public Functions

MaximizeMinClearanceObjective(const SpaceInformationPtr &si)

virtual Cost stateCost(const State *s) const override: Defined as the clearance of the state s, which is computed using the StateValidityChecker in this objective’s SpaceInformation.

virtual bool isCostBetterThan(Cost c1, Cost c2) const override: Since we wish to maximize clearance, and costs are equivalent to path clearance, we return the greater of the two cost values.

virtual Cost identityCost() const override: Returns +infinity, since any cost combined with +infinity under this objective will always return the other cost.

virtual Cost infiniteCost() const override: Returns -infinity, since no path clearance value can be considered worse than this.