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/* Author: Luis G. Torres */

#ifndef OMPL_BASE_OBJECTIVES_MAXIMIZE_MIN_CLEARANCE_OBJECTIVE_
#define OMPL_BASE_OBJECTIVES_MAXIMIZE_MIN_CLEARANCE_OBJECTIVE_

#include "ompl/base/objectives/MinimaxObjective.h"

namespace ompl
{
    namespace base
    {
        /** \brief Objective for attempting to maximize the minimum clearance along a path. */
        class MaximizeMinClearanceObjective : public MinimaxObjective
        {
        public:
            MaximizeMinClearanceObjective(const SpaceInformationPtr &si);

            /** \brief Defined as the clearance of the state \e s, which is computed using the StateValidityChecker in
             * this objective's SpaceInformation */
            Cost stateCost(const State *s) const override;

            /** \brief Since we wish to maximize clearance, and costs are equivalent to path clearance, we return the
             * greater of the two cost values. */
            bool isCostBetterThan(Cost c1, Cost c2) const override;

            /** \brief Returns +infinity, since any cost combined with +infinity under this objective will always return
             * the other cost. */
            Cost identityCost() const override;

            /** \brief Returns -infinity, since no path clearance value can be considered worse than this. */
            Cost infiniteCost() const override;
        };
    }  // namespace base
}  // namespace ompl

#endif
