hpp::core::RandomShortcut Class Reference

Random shortcut. More...

#include <hpp/core/random-shortcut.hh>

Inheritance diagram for hpp::core::RandomShortcut:
Collaboration diagram for hpp::core::RandomShortcut:

List of all members.

Public Member Functions

virtual PathVectorPtr_t optimize (const PathVectorPtr_t &path)
 Optimize path.

Static Public Member Functions

static RandomShortcutPtr_t create (const Problem &problem)
 Return shared pointer to new object.

Protected Member Functions

 RandomShortcut (const Problem &problem)

Detailed Description

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.

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

Constructor & Destructor Documentation

hpp::core::RandomShortcut::RandomShortcut ( const Problem problem) [protected]

Member Function Documentation

static RandomShortcutPtr_t hpp::core::RandomShortcut::create ( const Problem problem) [static]

Return shared pointer to new object.

virtual PathVectorPtr_t hpp::core::RandomShortcut::optimize ( const PathVectorPtr_t path) [virtual]

Optimize path.

Implements hpp::core::PathOptimizer.