Class MinimaxObjective

Defined in File MinimaxObjective.h

Inheritance Relationships

Base Type

public ompl::base::OptimizationObjective (Class OptimizationObjective)

Derived Type

public ompl::base::MaximizeMinClearanceObjective (Class MaximizeMinClearanceObjective)

Class Documentation

class MinimaxObjective : public ompl::base::OptimizationObjective 

The cost of a path is defined as the worst state cost over the entire path. This objective attempts to find the path with the “best worst cost” over all paths.

Subclassed by ompl::base::MaximizeMinClearanceObjective

Public Functions

MinimaxObjective(const SpaceInformationPtr &si)

virtual Cost stateCost(const State *s) const override: Returns a cost with a value of 1.

virtual 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. Assumes all costs are worse than identity.

virtual 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 the worse of the two.