hpp::core::pathOptimization::ConfigOptimizationTraits Struct Reference

Optimize the waypoints of the path and optionally add the constraint::ConfigurationConstraint to the ConfigProjector of the path. More...

#include <hpp/core/path-optimization/config-optimization.hh>

Static Public Member Functions
static bool	addConfigConstraintToPath ()
static std::size_t	numberOfPass ()
static std::size_t	numberOfIterations ()
static value_type	alphaInit ()
static Configuration_t	getGoal (const PathVector &path)
static ConfigProjectorPtr_t	getConfigProjector (const PathPtr_t &before, const PathPtr_t &after, bool &isReverse)
static bool	shouldFilter (JointConstPtr_t joint, const size_type iDof)

Detailed Description

Optimize the waypoints of the path and optionally add the constraint::ConfigurationConstraint to the ConfigProjector of the path.

See Parameters for information on how to tune the algorithm.

Note

The optimizer assumes that the input path is a vector of optimal paths for the distance function.

Member Function Documentation

addConfigConstraintToPath()

static bool hpp::core::pathOptimization::ConfigOptimizationTraits::addConfigConstraintToPath ( )

inlinestatic

alphaInit()

static value_type hpp::core::pathOptimization::ConfigOptimizationTraits::alphaInit ( )

inlinestatic

getConfigProjector()

static ConfigProjectorPtr_t hpp::core::pathOptimization::ConfigOptimizationTraits::getConfigProjector ( const PathPtr_t &  before, const PathPtr_t &  after, bool &  isReverse  )

static

Referenced by getGoal().

getGoal()

static Configuration_t hpp::core::pathOptimization::ConfigOptimizationTraits::getGoal ( const PathVector &  path )

inlinestatic

References getConfigProjector(), hpp::core::PathVector::initial(), and shouldFilter().

numberOfIterations()

static std::size_t hpp::core::pathOptimization::ConfigOptimizationTraits::numberOfIterations ( )

inlinestatic

numberOfPass()

static std::size_t hpp::core::pathOptimization::ConfigOptimizationTraits::numberOfPass ( )

inlinestatic

shouldFilter()

static bool hpp::core::pathOptimization::ConfigOptimizationTraits::shouldFilter ( JointConstPtr_t  joint, const size_type  iDof  )

static

Referenced by getGoal().