Path optimizer for paths created with the constraint graph. More...
#include <hpp/manipulation/graph-optimizer.hh>
Public Types | |
typedef core::PathOptimizerBuilder_t | PathOptimizerBuilder_t |
Public Member Functions | |
virtual PathVectorPtr_t | optimize (const PathVectorPtr_t &path) |
const PathOptimizerPtr_t & | innerOptimizer () |
Get the encapsulated optimizer. More... | |
Static Public Member Functions | |
template<typename TraitsOrInnerType > | |
static GraphOptimizerPtr_t | create (const core::Problem &problem) |
Member function definition. More... | |
Protected Member Functions | |
GraphOptimizer (const core::Problem &problem, PathOptimizerBuilder_t factory) | |
Constructor. More... | |
Path optimizer for paths created with the constraint graph.
This class encapsulates another path optimizer class. This optimizer calls the inner optimizer on every subpaths with the same set of constraints.
typedef core::PathOptimizerBuilder_t hpp::manipulation::GraphOptimizer::PathOptimizerBuilder_t |
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inlineprotected |
Constructor.
References create().
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static |
Member function definition.
Referenced by GraphOptimizer().
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inline |
Get the encapsulated optimizer.
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virtual |