MinimaxObjective.h
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...
Definition: MinimaxObjective.cpp:49
virtual Cost stateCost(const State *s) const
Returns a cost with a value of 1.
Definition: MinimaxObjective.cpp:44
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...
Definition: MinimaxObjective.cpp:76
A boost shared pointer wrapper for ompl::base::SpaceInformation.
Abstract definition of optimization objectives.
Definition: OptimizationObjective.h:66
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
The cost of a path is defined as the worst state cost over the entire path. This objective attempts t...
Definition: MinimaxObjective.h:49