Loading...
Searching...
No Matches
MinimaxObjective.cpp
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2010, Rice University
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Rice University nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Luis G. Torres */
36
37#include "ompl/base/objectives/MinimaxObjective.h"
38
39ompl::base::MinimaxObjective::MinimaxObjective(const SpaceInformationPtr &si) : OptimizationObjective(si)
40{
41}
42
44{
45 return Cost(1.0);
46}
47
49{
50 Cost worstCost = this->identityCost();
51
52 int nd = si_->getStateSpace()->validSegmentCount(s1, s2);
53
54 if (nd > 1)
55 {
56 State *test = si_->allocState();
57 for (int j = 1; j < nd; ++j)
58 {
59 si_->getStateSpace()->interpolate(s1, s2, (double)j / (double)nd, test);
60 Cost testStateCost = this->stateCost(test);
61 if (this->isCostBetterThan(worstCost, testStateCost))
62 worstCost = testStateCost;
63 }
64 si_->freeState(test);
65 }
66
67 // Lastly, check s2
68 Cost lastCost = this->stateCost(s2);
69 if (this->isCostBetterThan(worstCost, lastCost))
70 worstCost = lastCost;
71
72 return worstCost;
73}
74
76{
77 return this->isCostBetterThan(c1, c2) ? c2 : c1;
78}
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
Cost combineCosts(Cost c1, Cost c2) const override
Since we're only concerned about the "worst" state cost in the path, combining two costs just returns...
Cost stateCost(const State *s) const override
Returns a cost with a value of 1.
Cost motionCost(const State *s1, const State *s2) const override
Interpolates between s1 and s2 to check for state costs along the motion between the two states....
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50