hpp-core 4.15.1
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. More... | |
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virtual | ~PathOptimizer () |
ProblemConstPtr_t | problem () const |
Get problem. More... | |
virtual PathVectorPtr_t | optimize (const PathVectorPtr_t &path)=0 |
Optimize path. More... | |
void | interrupt () |
Interrupt path optimization. More... | |
void | maxIterations (const unsigned long int &n) |
Set maximal number of iterations. More... | |
void | timeOut (const double &timeOut) |
set time out (in seconds) More... | |
Static Public Member Functions | |
static RandomShortcutPtr_t | create (const ProblemConstPtr_t &problem) |
Return shared pointer to new object. More... | |
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) |
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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 | |
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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. |