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hpp::manipulation::pathOptimization::ConfigOptimizationTraits Struct Reference

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>

Inheritance diagram for hpp::manipulation::pathOptimization::ConfigOptimizationTraits:
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Collaboration diagram for hpp::manipulation::pathOptimization::ConfigOptimizationTraits:
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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)
 
- Static Public Member Functions inherited from hpp::core::pathOptimization::ConfigOptimizationTraits
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)
 

Detailed Description

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.

Note
The optimizer assumes that the input path is a vector of optimal paths for the distance function.

Member Typedef Documentation

Member Function Documentation

static ConfigProjectorPtr_t hpp::manipulation::pathOptimization::ConfigOptimizationTraits::getConfigProjector ( const PathPtr_t before,
const PathPtr_t after,
bool &  reverse 
)
static
static size_type hpp::manipulation::pathOptimization::ConfigOptimizationTraits::numberOfIterations ( )
inlinestatic
static size_type hpp::manipulation::pathOptimization::ConfigOptimizationTraits::numberOfPass ( )
inlinestatic