Class HillClimbing

Class Documentation

class HillClimbing

Hill Climbing search.

HillClimbing searches for a state using hill climbing, starting from a given seed state.

Short description

External documentation

Public Functions

inline HillClimbing(base::SpaceInformationPtr si)

Constructor.

~HillClimbing() = default
bool tryToImprove(const base::GoalRegion &goal, base::State *state, double nearDistance, double *betterGoalDistance = nullptr) const

Try to improve a state (reduce distance to goal). The updates are performed by sampling near the state, within the specified distance. If improvements were found, the function returns true and the better goal distance is optionally returned.

inline void setMaxImproveSteps(unsigned int steps)

Set the number of steps to perform.

inline unsigned int getMaxImproveSteps() const

Get the number of steps to perform.

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.