hpp::manipulation::GraphOptimizer Class Reference

Path optimizer for paths created with the constraint graph. More...

#include <hpp/manipulation/graph-optimizer.hh>

Inheritance diagram for hpp::manipulation::GraphOptimizer:
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Public Types

typedef core::PathOptimizerBuilder_t PathOptimizerBuilder_t
 

Public Member Functions

virtual PathVectorPtr_t optimize (const PathVectorPtr_t &path)
 
const PathOptimizerPtr_tinnerOptimizer ()
 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...
 

Detailed Description

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.

Member Typedef Documentation

◆ PathOptimizerBuilder_t

typedef core::PathOptimizerBuilder_t hpp::manipulation::GraphOptimizer::PathOptimizerBuilder_t

Constructor & Destructor Documentation

◆ GraphOptimizer()

hpp::manipulation::GraphOptimizer::GraphOptimizer ( const core::Problem problem,
PathOptimizerBuilder_t  factory 
)
inlineprotected

Constructor.

References create().

Member Function Documentation

◆ create()

template<typename TraitsOrInnerType >
GraphOptimizerPtr_t hpp::manipulation::GraphOptimizer::create ( const core::Problem problem)
static

Member function definition.

Referenced by GraphOptimizer().

◆ innerOptimizer()

const PathOptimizerPtr_t& hpp::manipulation::GraphOptimizer::innerOptimizer ( )
inline

Get the encapsulated optimizer.

◆ optimize()

virtual PathVectorPtr_t hpp::manipulation::GraphOptimizer::optimize ( const PathVectorPtr_t path)
virtual