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MinimaxObjective.cpp
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34 
35 /* Author: Luis G. Torres */
36 
37 #include "ompl/base/objectives/MinimaxObjective.h"
38 
39 ompl::base::MinimaxObjective::MinimaxObjective(const SpaceInformationPtr &si) :
40  OptimizationObjective(si)
41 {
42 }
43 
45 {
46  Cost worstCost = this->identityCost();
47 
48  int nd = si_->getStateSpace()->validSegmentCount(s1, s2);
49 
50  if (nd > 1)
51  {
52  State *test = si_->allocState();
53  for (int j = 1; j < nd; ++j)
54  {
55  si_->getStateSpace()->interpolate(s1, s2, (double) j / (double) nd, test);
56  Cost testStateCost = this->stateCost(test);
57  if (this->isCostBetterThan(worstCost, testStateCost))
58  worstCost = testStateCost;
59  }
60  si_->freeState(test);
61  }
62 
63  // Lastly, check s2
64  Cost lastCost = this->stateCost(s2);
65  if (this->isCostBetterThan(worstCost, lastCost))
66  worstCost = lastCost;
67 
68  return worstCost;
69 }
70 
72 {
73  if (this->isCostBetterThan(c1, c2))
74  return c2;
75  else
76  return c1;
77 }
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...
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 of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
Definition of an abstract state.
Definition: State.h:50