base::MinimaxObjective Class Reference
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. More...
#include <ompl/base/objectives/MinimaxObjective.h>
Inheritance diagram for base::MinimaxObjective:

Public Member Functions | |
MinimaxObjective (const SpaceInformationPtr &si) | |
virtual Cost | stateCost (const State *s) const |
Returns a cost with a value of 1. | |
virtual Cost | motionCost (const State *s1, const State *s2) const |
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 |
Since we're only concerned about the "worst" state cost in the path, combining two costs just returns the worse of the two. |
Detailed Description
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.
Definition at line 49 of file MinimaxObjective.h.
The documentation for this class was generated from the following files:
- ompl/base/objectives/MinimaxObjective.h
- ompl/base/objectives/src/MinimaxObjective.cpp