hpp-core  4.12.0
Implement basic classes for canonical path planning for kinematic chains.
hpp::core::pathOptimization::RandomShortcut Class Reference

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

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

Public Member Functions

virtual PathVectorPtr_t optimize (const PathVectorPtr_t &path)
 Optimize path. More...
 
- Public Member Functions inherited from hpp::core::PathOptimizer
virtual ~PathOptimizer ()
 
ProblemConstPtr_t problem () const
 Get problem. 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 &currentOpt, 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_
 

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

◆ RandomShortcut()

hpp::core::pathOptimization::RandomShortcut::RandomShortcut ( const ProblemConstPtr_t problem)
protected

Member Function Documentation

◆ create()

static RandomShortcutPtr_t hpp::core::pathOptimization::RandomShortcut::create ( const ProblemConstPtr_t problem)
static

Return shared pointer to new object.

◆ optimize()

virtual PathVectorPtr_t hpp::core::pathOptimization::RandomShortcut::optimize ( const PathVectorPtr_t path)
virtual

Optimize path.

Implements hpp::core::PathOptimizer.

◆ shootTimes()

virtual bool hpp::core::pathOptimization::RandomShortcut::shootTimes ( const PathVectorPtr_t currentOpt,
const value_type t0,
value_type t1,
value_type t2,
const value_type t3 
)
protectedvirtual

Sample times along currentOpt

Parameters
currentOptthe current path
[in]t0,t3 arethe start and end of currentOpt
[out]t1,t2 are the position where to apply shortcut.
Warning
The function should output t1 < t2
Returns
true in case of success

The documentation for this class was generated from the following file: