hpp-core: hpp::core::pathOptimization::PartialShortcut::Parameters Struct Reference

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

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Public Member Functions | Public Attributes | List of all members
hpp::core::pathOptimization::PartialShortcut::Parameters Struct Reference

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

## Public Member Functions
| Parameters ()

## Public Attributes
bool | removeLockedJoints
bool | onlyFullShortcut
std::size_t | numberOfConsecutiveFailurePerJoints
value_type | progressionMargin

## Constructor & Destructor Documentation

## ◆ Parameters()

hpp::core::pathOptimization::PartialShortcut::Parameters::Parameters | ( |  | ) |

## Member Data Documentation

## ◆ 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:

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