Optimize the waypoints of the path and optionally add the constraint::ConfigurationConstraint to the ConfigProjector of the path. More...
#include <hpp/manipulation/path-optimization/config-optimization.hh>
Public Types | |
typedef core::PathPtr_t | PathPtr_t |
Static Public Member Functions | |
static size_type | numberOfPass () |
static size_type | numberOfIterations () |
static ConfigProjectorPtr_t | getConfigProjector (const PathPtr_t &before, const PathPtr_t &after, bool &reverse) |
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static bool | addConfigConstraintToPath () |
static std::size_t | numberOfPass () |
static std::size_t | numberOfIterations () |
static value_type | alphaInit () |
static Configuration_t | getGoal (const PathVector &path) |
static ConfigProjectorPtr_t | getConfigProjector (const PathPtr_t &before, const PathPtr_t &after, bool &isReverse) |
static bool | shouldFilter (JointConstPtr_t joint, const size_type iDof) |
Optimize the waypoints of the path and optionally add the constraint::ConfigurationConstraint to the ConfigProjector of the path.
See Parameters for information on how to tune the algorithm.
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