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:

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.
The documentation for this class was generated from the following files:
- ompl/base/objectives/MaximizeMinClearanceObjective.h
- ompl/base/objectives/src/MaximizeMinClearanceObjective.cpp