#include <hpp/core/path-optimization/partial-shortcut.hh>
◆ Parameters()
hpp::core::pathOptimization::PartialShortcut::Parameters::Parameters |
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◆ numberOfConsecutiveFailurePerJoints
std::size_t hpp::core::pathOptimization::PartialShortcut::Parameters::numberOfConsecutiveFailurePerJoints |
The optimization will stop after a number of consecutive failure on each joint. Defaults to 5
◆ onlyFullShortcut
bool hpp::core::pathOptimization::PartialShortcut::Parameters::onlyFullShortcut |
Set it to true if you want to skip step 3 Defaults to false
◆ progressionMargin
value_type hpp::core::pathOptimization::PartialShortcut::Parameters::progressionMargin |
An iteration will be considered as a failure is the path length did not decrease more than progressionMargin. Defaults is 1e-3
◆ removeLockedJoints
bool hpp::core::pathOptimization::PartialShortcut::Parameters::removeLockedJoints |
Whether of not the joint that are locked by the constraints in the path should not be optimized. This is safe if you have the same constraints along the path. Defaults to true
The documentation for this struct was generated from the following file: