MinimaxObjective.h

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/* Author: Luis G. Torres */

#ifndef OMPL_BASE_OBJECTIVES_MINIMAX_OBJECTIVE_
#define OMPL_BASE_OBJECTIVES_MINIMAX_OBJECTIVE_

#include "ompl/base/OptimizationObjective.h"

namespace ompl
{
    namespace base
    {
        class MinimaxObjective : public OptimizationObjective
        {
        public:
            MinimaxObjective(const SpaceInformationPtr &si);

            virtual Cost stateCost(const State *s) const;

            virtual Cost motionCost(const State *s1, const State *s2) const;

            virtual Cost combineCosts(Cost c1, Cost c2) const;
        };
    }
}

#endif