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hpp-core 6.0.0
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/path-optimization/random-shortcut.hh>


Public Member Functions | |
| virtual PathVectorPtr_t | optimize (const PathVectorPtr_t &path) |
| Optimize path. | |
Public Member Functions inherited from hpp::core::PathOptimizer | |
| virtual | ~PathOptimizer () |
| ProblemConstPtr_t | problem () const |
| Get problem. | |
| void | interrupt () |
| Interrupt path optimization. | |
| void | maxIterations (const unsigned long int &n) |
| Set maximal number of iterations. | |
| void | timeOut (const double &timeOut) |
| set time out (in seconds) | |
Static Public Member Functions | |
| static RandomShortcutPtr_t | create (const ProblemConstPtr_t &problem) |
| Return shared pointer to new object. | |
Protected Member Functions | |
| RandomShortcut (const ProblemConstPtr_t &problem) | |
| virtual bool | shootTimes (const PathVectorPtr_t ¤tOpt, const value_type &t0, value_type &t1, value_type &t2, const value_type &t3) |
Protected Member Functions inherited from hpp::core::PathOptimizer | |
| PathOptimizer (const ProblemConstPtr_t &problem) | |
| PathPtr_t | steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const |
| void | monitorExecution () |
| void | endIteration () |
| bool | shouldStop () const |
| void | initFromParameters () |
Additional Inherited Members | |
Protected Attributes inherited from hpp::core::PathOptimizer | |
| bool | interrupt_ |
Random shortcut
Path optimizer that iteratively samples random configurations along a path and that tries to connect these configurations by a call to the steering method.
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protected |
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static |
Return shared pointer to new object.
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virtual |
Optimize path.
Implements hpp::core::PathOptimizer.
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protectedvirtual |
Sample times along currentOpt
| currentOpt | the current path | |
| [in] | t0,t3 are | the start and end of currentOpt |
| [out] | t1,t2 | are the position where to apply shortcut. |