hpp-core: hpp::core::pathOptimization::PartialShortcutTraits Struct Reference

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

Loading...
Searching...
No Matches
Static Public Member Functions | List of all members
hpp::core::pathOptimization::PartialShortcutTraits Struct Reference
Path Optimization

`#include <hpp/core/path-optimization/partial-shortcut.hh>`

## Static Public Member Functions
static bool | removeLockedJoints ()
static bool | onlyFullShortcut ()
static std::size_t | numberOfConsecutiveFailurePerJoints ()
static value_type | progressionMargin ()

## Detailed Description

Partial shortcut

The algorithm has 3 steps:

- find a suitable set of joints that can be optimized.
- try a direct path for each of this joints. If this step fails for a joint, then the joint is inserted in a input set of next step.
- try to find random shortcut on each joint in the set.

See Parameters for information on how to tune the algorithm.

Note
  The optimizer assumes that the input path is a vector of optimal paths for the distance function.

## Member Function Documentation

## ◆ numberOfConsecutiveFailurePerJoints()

static std::size_t hpp::core::pathOptimization::PartialShortcutTraits::numberOfConsecutiveFailurePerJoints | ( |  | ) |
| inlinestatic

## ◆ onlyFullShortcut()

static bool hpp::core::pathOptimization::PartialShortcutTraits::onlyFullShortcut | ( |  | ) |
| inlinestatic

## ◆ progressionMargin()

static value_type hpp::core::pathOptimization::PartialShortcutTraits::progressionMargin | ( |  | ) |
| inlinestatic

## ◆ removeLockedJoints()

static bool hpp::core::pathOptimization::PartialShortcutTraits::removeLockedJoints | ( |  | ) |
| inlinestatic

The documentation for this struct was generated from the following file:

- include/hpp/core/path-optimization/partial-shortcut.hh