Purpose

In Raye, we used to make up the cost values for different optimization objectives with @jamenkaye help. This time around we want to ensure our optimization objective weights are appropriate and the summation of optimization objectives. This will allow us to ensure that we have considered the relation between the objectives fully and systematically.

Description

1. Research and provide the best method for determining the weights of each optimization objective. You can write up a methodology on confluence for this part. It may provide the simulation team with a bit of insight into how we will use their simulation.
2. Determine the best method to combine different optimization objectives.

We can ignore the speed objective for now since it is not ready. However, you can still look at the possible methods to see how we will try to create the speed objective.  

Resources

• https://ompl.kavrakilab.org/optimizationObjectivesTutorial.html
• https://ompl.kavrakilab.org/classompl_1_1base_1_1MultiOptimizationObjective.html