ompl::geometric::HCIK Class Reference

Inverse Kinematics with Hill Climbing. More...

#include <HCIK.h>

List of all members.

Public Member Functions
unsigned int	getMaxImproveSteps (void) const
	Get the number of steps to perform.
bool	getValidityCheck (void) const
	Get the state validity flag; if this is false, states are not checked for validity.
	HCIK (const base::SpaceInformationPtr &si)
	Constructor.
void	setMaxImproveSteps (unsigned int steps)
	Set the number of steps to perform.
void	setValidityCheck (bool valid)
	Set the state validity flag; if this is false, states are not checked for validity.
bool	tryToImprove (const base::GoalRegion &goal, base::State *state, double nearDistance, double *betterGoalDistance=NULL) 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 opionally returned.
	~HCIK (void)
Private Member Functions
bool	valid (const base::State *state) const
Private Attributes
bool	checkValidity_
unsigned int	maxImproveSteps_
base::SpaceInformationPtr	si_

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Detailed Description

Inverse Kinematics with Hill Climbing.

Short description

HCIK does inverse kinematics with hill climbing, starting from a given state.

External documentation

Definition at line 60 of file HCIK.h.

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Constructor & Destructor Documentation

ompl::geometric::HCIK::HCIK

(

const base::SpaceInformationPtr &

si

)

[inline]

Constructor.

Definition at line 65 of file HCIK.h.

ompl::geometric::HCIK::~HCIK

(

void

)

[inline]

Definition at line 69 of file HCIK.h.

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Member Function Documentation

unsigned int ompl::geometric::HCIK::getMaxImproveSteps

(

void

)

const [inline]

Get the number of steps to perform.

Definition at line 85 of file HCIK.h.

bool ompl::geometric::HCIK::getValidityCheck

(

void

)

const [inline]

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

Definition at line 97 of file HCIK.h.

void ompl::geometric::HCIK::setMaxImproveSteps

(

unsigned int

steps

)

[inline]

Set the number of steps to perform.

Definition at line 79 of file HCIK.h.

void ompl::geometric::HCIK::setValidityCheck

(

bool

valid

)

[inline]

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

Definition at line 91 of file HCIK.h.

bool ompl::geometric::HCIK::tryToImprove	(	const base::GoalRegion &	goal,
		base::State *	state,
		double	nearDistance,
		double *	betterGoalDistance = NULL
	)			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 opionally returned.

bool ompl::geometric::HCIK::valid

(

const base::State *

state

)

const [inline, private]

Definition at line 104 of file HCIK.h.

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Member Data Documentation

bool ompl::geometric::HCIK::checkValidity_ [private]

Definition at line 111 of file HCIK.h.

unsigned int ompl::geometric::HCIK::maxImproveSteps_ [private]

Definition at line 110 of file HCIK.h.

base::SpaceInformationPtr ompl::geometric::HCIK::si_ [private]

Definition at line 109 of file HCIK.h.

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

• HCIK.h