Path Optimization

Path optimization algorithms derive from class hpp::core::PathOptimizer. More...

Classes

class  hpp::core::pathOptimization::GradientBased
class  hpp::core::PathOptimizer
 Abstraction of path optimizer. More...
class  hpp::core::RandomShortcut
 Random shortcut. More...

Namespaces

namespace  hpp::core::pathOptimization

Functions

static GradientBasedPtr_t hpp::core::pathOptimization::GradientBased::create (const Problem &problem)
 Return shared pointer to new object.
void hpp::core::pathOptimization::GradientBased::cost (const CostPtr_t &cost)
 Set cost.
virtual PathVectorPtr_t hpp::core::pathOptimization::GradientBased::optimize (const PathVectorPtr_t &path)
 Optimize path.
 hpp::core::pathOptimization::GradientBased::GradientBased (const Problem &problem)
const Problem & hpp::core::PathOptimizer::problem () const
 Get problem.
virtual PathVectorPtr_t hpp::core::PathOptimizer::optimize (const PathVectorPtr_t &path)=0
 Optimize path.
 hpp::core::PathOptimizer::PathOptimizer (const Problem &problem)

Detailed Description

Path optimization algorithms derive from class hpp::core::PathOptimizer.


Function Documentation

void hpp::core::pathOptimization::GradientBased::cost ( const CostPtr_t cost)

Set cost.

static GradientBasedPtr_t hpp::core::pathOptimization::GradientBased::create ( const Problem problem) [static]

Return shared pointer to new object.

Default cost is path length.

hpp::core::pathOptimization::GradientBased::GradientBased ( const Problem problem) [protected]
virtual PathVectorPtr_t hpp::core::pathOptimization::GradientBased::optimize ( const PathVectorPtr_t path) [virtual]

Optimize path.

Implements hpp::core::PathOptimizer.

virtual PathVectorPtr_t hpp::core::PathOptimizer::optimize ( const PathVectorPtr_t path) [pure virtual]
hpp::core::PathOptimizer::PathOptimizer ( const Problem problem) [inline, protected]
const Problem& hpp::core::PathOptimizer::problem ( ) const [inline]

Get problem.