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:

List of all members.

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:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines