Between Yahoo! UI Compressor, Dean Edwards Packer and jsmin, which produces better results, both in terms of resulting footprint and fewer errors when obfuscating.
Better is a bit subjective here, since there are multiple factors to consider (even beyond those you list):
My recommendation is to run the code you intend to compress through several compressors (an automated comparison tool such as CompressorRater helps...), and choose based on the results - remembering to test, profile and compare the actual page load times afterward.