base::MaximizeMinClearanceObjective Class Reference

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

#include <ompl/base/objectives/MaximizeMinClearanceObjective.h>

Inheritance diagram for base::MaximizeMinClearanceObjective:

List of all members.

Public Member Functions

 MaximizeMinClearanceObjective (const SpaceInformationPtr &si)
virtual Cost stateCost (const State *s) const
 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
 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
 Returns +infinity, since any cost combined with +infinity under this objective will always return the other cost.
virtual Cost infiniteCost () const
 Returns -infinity, since no path clearance value can be considered worse than this.

Detailed Description

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

Definition at line 47 of file MaximizeMinClearanceObjective.h.


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