Class GeneticSearch

Nested Relationships

Nested Types

Class Documentation

class GeneticSearch

Genetic Algorithm for searching valid states.

GeneticSearch does search for valid states using a genetic algorithm

Short description

External documentation

Public Functions

GeneticSearch(const base::SpaceInformationPtr &si)

Construct an instance of a genetic algorithm for inverse kinematics given the space information to search within.

~GeneticSearch()
bool solve(double solveTime, const base::GoalRegion &goal, base::State *result, const std::vector<base::State*> &hint = std::vector<base::State*>())

Find a state that fits the request.

inline void setMaxImproveSteps(unsigned int maxSteps)

Set the number of steps to perform when using hill climbing to improve an individual in the population.

inline unsigned int getMaxImproveSteps() const

Get the number of steps to perform when using hill climbing to improve an individual in the population.

inline void setValidityCheck(bool valid)

Set the state validity flag; if this is false, states are not checked for validity.

inline bool getValidityCheck() const

Get the state validity flag; if this is false, states are not checked for validity.

inline void setTryImprove(bool flag)

Set the flag that determines whether improvements using hill climbing should be attempted for solutions generated by the genetic algorithm.

inline bool getTryImprove() const

Returns true if improvements using hill climbing should be attempted for solutions generated by the genetic algorithm. Returns false otherwise.

inline void setPoolSize(unsigned int size)

Set the number of individuals in the population.

inline unsigned int getPoolSize() const

Get the number number of individuals in the population.

inline void setPoolMutationSize(unsigned int size)

Set the number of individuals to mutate at each generation.

inline unsigned int getPoolMutationSize() const

Get the number of individuals that are mutated at each generation.

inline void setPoolRandomSize(unsigned int size)

Set the number of individuals to randomly sample at each generation.

inline unsigned int getPoolRandomSize() const

Get the number of individuals to randomly sample at each generation.

inline void setRange(double distance)

Set the range (distance) to be used when sampling around a state.

inline double getRange() const

Get the range GeneticSearch is using.

void clear()

Clear the pool of samples.