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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
    {
        /** \brief The cost of a path is defined as the worst state
            cost over the entire path. This objective attempts to find
            the path with the "best worst cost" over all paths. */
        class MinimaxObjective : public OptimizationObjective
        {
        public:
            MinimaxObjective(const SpaceInformationPtr &si);

            /** \brief Returns a cost with a value of 1. */
            virtual Cost stateCost(const State *s) const;

            /** \brief Interpolates between \e s1 and \e s2 to check for
                state costs along the motion between the two
                states. Assumes all costs are worse than identity */
            virtual Cost motionCost(const State *s1, const State *s2) const;

            /** \brief Since we're only concerned about the "worst"
                state cost in the path, combining two costs just
                returns the worse of the two. */
            virtual Cost combineCosts(Cost c1, Cost c2) const;
        };
    }
}

#endif
