ompl::geometric::GAIK Class Reference

Inverse Kinematics with Genetic Algorithms. More...

#include <GAIK.h>

Classes
struct	Individual
struct	IndividualSort
Public Member Functions
	GAIK (const base::SpaceInformationPtr &si)
	Construct an instance of a genetic algorithm for inverse kinematics given the space information to search within.
unsigned int	getMaxImproveSteps (void) const
	Get the number of steps to perform when using hill climbing to improve an individual in the population.
unsigned int	getPoolMutationSize (void) const
	Get the number of individuals that are mutated at each generation.
unsigned int	getPoolRandomSize (void) const
	Get the number of individuals to randomly sample at each generation.
unsigned int	getPoolSize (void) const
	Get the number number of individuals in the population.
double	getRange (void) const
	Get the range GAIK is using.
bool	getValidityCheck (void) const
	Get the state validity flag; if this is false, states are not checked for validity.
void	setMaxImproveSteps (unsigned int maxSteps)
	Set the number of steps to perform when using hill climbing to improve an individual in the population.
void	setPoolMutationSize (unsigned int size)
	Set the number of individuals to mutate at each generation.
void	setPoolRandomSize (unsigned int size)
	Set the number of individuals to randomly sample at each generation.
void	setPoolSize (unsigned int size)
	Set the number of individuals in the population.
void	setRange (double distance)
	Set the range (distance) to be used when sampling around a state.
void	setValidityCheck (bool valid)
	Set the state validity flag; if this is false, states are not checked for validity.
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.
	~GAIK (void)
Private Member Functions
bool	tryToImprove (const base::GoalRegion &goal, base::State *state, double distance)
	Use hill climbing to attempt to get a state closer to the goal.
bool	valid (const base::State *state) const
	Return true if the state is to be considered valid. This function always returns true if checking of validity is disabled.
Private Attributes
bool	checkValidity_
HCIK	hcik_
double	maxDistance_
msg::Interface	msg_
unsigned int	poolMutation_
unsigned int	poolRandom_
unsigned int	poolSize_
base::SpaceInformationPtr	si_

Detailed Description

Inverse Kinematics with Genetic Algorithms.

Short description

GAIK does inverse kinematics, but makes sure the produced goal states are in fact valid.

External documentation

Definition at line 57 of file GAIK.h.

Constructor & Destructor Documentation

ompl::geometric::GAIK::GAIK ( const base::SpaceInformationPtr & si ) [inline]

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

Definition at line 47 of file GAIK.h.

ompl::geometric::GAIK::~GAIK ( void ) [inline]

Definition at line 54 of file GAIK.h.

Member Function Documentation

unsigned int ompl::geometric::GAIK::getMaxImproveSteps ( void ) const [inline]

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

Definition at line 69 of file GAIK.h.

unsigned int ompl::geometric::GAIK::getPoolMutationSize ( void ) const [inline]

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

Definition at line 106 of file GAIK.h.

unsigned int ompl::geometric::GAIK::getPoolRandomSize ( void ) const [inline]

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

Definition at line 118 of file GAIK.h.

unsigned int ompl::geometric::GAIK::getPoolSize ( void ) const [inline]

Get the number number of individuals in the population.

Definition at line 94 of file GAIK.h.

double ompl::geometric::GAIK::getRange ( void ) const [inline]

Get the range GAIK is using.

Definition at line 130 of file GAIK.h.

bool ompl::geometric::GAIK::getValidityCheck ( void ) const [inline]

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

Definition at line 82 of file GAIK.h.

void ompl::geometric::GAIK::setMaxImproveSteps ( unsigned int maxSteps ) [inline]

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

Definition at line 63 of file GAIK.h.

void ompl::geometric::GAIK::setPoolMutationSize ( unsigned int size ) [inline]

Set the number of individuals to mutate at each generation.

Definition at line 100 of file GAIK.h.

void ompl::geometric::GAIK::setPoolRandomSize ( unsigned int size ) [inline]

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

Definition at line 112 of file GAIK.h.

void ompl::geometric::GAIK::setPoolSize ( unsigned int size ) [inline]

Set the number of individuals in the population.

Definition at line 88 of file GAIK.h.

void ompl::geometric::GAIK::setRange ( double distance ) [inline]

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

Definition at line 124 of file GAIK.h.

void ompl::geometric::GAIK::setValidityCheck ( bool valid ) [inline]

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

Definition at line 75 of file GAIK.h.

bool ompl::geometric::GAIK::solve	(	double	solveTime,
		const base::GoalRegion &	goal,
		base::State *	result,
		const std::vector< base::State * > &	hint = `std::vector< base::State * >()`
	)