Public Member Functions | Static Public Member Functions | Protected Member Functions | List of all members
hpp::core::RandomShortcut Class Reference

Random shortcut. More...

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

Inheritance diagram for hpp::core::RandomShortcut:
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Collaboration diagram for hpp::core::RandomShortcut:
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Public Member Functions

virtual PathVectorPtr_t optimize (const PathVectorPtr_t &path)
 Optimize path. More...
 
- Public Member Functions inherited from hpp::core::PathOptimizer
virtual ~PathOptimizer ()
 
const Problemproblem () const
 Get problem. More...
 
void interrupt ()
 Interrupt path optimization. More...
 

Static Public Member Functions

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

Protected Member Functions

 RandomShortcut (const Problem &problem)
 
- Protected Member Functions inherited from hpp::core::PathOptimizer
 PathOptimizer (const Problem &problem)
 
PathPtr_t steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const
 

Additional Inherited Members

- Protected Attributes inherited from hpp::core::PathOptimizer
bool interrupt_
 Whether to interrupt computation Set to false at start of optimize method, set to true by method interrupt. More...
 

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::RandomShortcut::RandomShortcut ( const Problem problem)
protected

Member Function Documentation

◆ create()

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

Return shared pointer to new object.

◆ optimize()

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

Optimize path.

Implements hpp::core::PathOptimizer.