19 #ifndef HPP_CORE_PATH_OPTIMIZER_HH
20 # define HPP_CORE_PATH_OPTIMIZER_HH
25 # include <boost/date_time/posix_time/ptime.hpp>
Definition: path-optimizer.hh:35
#define HPP_CORE_DLLAPI
Definition: config.hh:64
virtual PathVectorPtr_t optimize(const PathVectorPtr_t &path)=0
Optimize path.
size_type iteration
Definition: path-optimizer.hh:89
ProblemConstPtr_t problem() const
Get problem.
Definition: path-optimizer.hh:40
boost::posix_time::ptime timeStart
Definition: path-optimizer.hh:90
void maxIterations(const unsigned long int &n)
Set maximal number of iterations.
void timeOut(const double &timeOut)
set time out (in seconds)
void endIteration()
Definition: path-optimizer.hh:67
void initFromParameters()
PathOptimizer(const ProblemConstPtr_t &problem)
bool interrupt_
Definition: path-optimizer.hh:59
void interrupt()
Interrupt path optimization.
Definition: path-optimizer.hh:49
virtual ~PathOptimizer()
Definition: path-optimizer.hh:37
PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const
bool enabled
Definition: path-optimizer.hh:88
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:176
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
pinocchio::size_type size_type
Definition: fwd.hh:156
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
Definition: bi-rrt-planner.hh:24