MaximizeMinClearanceObjective.cpp
virtual Cost identityCost() const
Returns +infinity, since any cost combined with +infinity under this objective will always return the...
Definition: MaximizeMinClearanceObjective.cpp:58
virtual Cost infiniteCost() const
Returns -infinity, since no path clearance value can be considered worse than this.
Definition: MaximizeMinClearanceObjective.cpp:63
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:63
virtual bool isCostBetterThan(Cost c1, Cost c2) const
Since we wish to maximize clearance, and costs are equivalent to path clearance, we return the greate...
Definition: MaximizeMinClearanceObjective.cpp:53
SpaceInformationPtr si_
The space information for this objective.
Definition: OptimizationObjective.h:132
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
virtual Cost stateCost(const State *s) const
Defined as the clearance of the state s, which is computed using the StateValidityChecker in this obj...
Definition: MaximizeMinClearanceObjective.cpp:48
static const double BETTER_PATH_COST_MARGIN
When running algorithms such as RRT*, rewire updates are made when the cost of a path appears better ...
Definition: MagicConstants.h:93