MaximizeMinClearanceObjective.cpp
41 ompl::base::MaximizeMinClearanceObjective::MaximizeMinClearanceObjective(const SpaceInformationPtr &si)
A shared pointer wrapper for ompl::base::SpaceInformation.
Cost stateCost(const State *s) const override
Defined as the clearance of the state s, which is computed using the StateValidityChecker in this obj...
Definition: MaximizeMinClearanceObjective.cpp:48
Cost identityCost() const override
Returns +infinity, since any cost combined with +infinity under this objective will always return the...
Definition: MaximizeMinClearanceObjective.cpp:58
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:111
bool isCostBetterThan(Cost c1, Cost c2) const override
Since we wish to maximize clearance, and costs are equivalent to path clearance, we return the greate...
Definition: MaximizeMinClearanceObjective.cpp:53
std::string description_
The description of this optimization objective.
Definition: OptimizationObjective.h:259
void setCostThreshold(Cost c)
Set the cost threshold for objective satisfaction. When a path is found with a cost better than the c...
Definition: OptimizationObjective.cpp:65
Cost infiniteCost() const override
Returns -infinity, since no path clearance value can be considered worse than this.
Definition: MaximizeMinClearanceObjective.cpp:63