hpp::core::pathOptimization::PartialShortcutTraits Struct Reference

Partial shortcut. More...

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

Static Public Member Functions
static bool	removeLockedJoints ()
static bool	onlyFullShortcut ()
static std::size_t	numberOfConsecutiveFailurePerJoints ()
static value_type	progressionMargin ()

Detailed Description

Partial shortcut.

The algorithm has 3 steps:

• find a suitable set of joints that can be optimized.
• try a direct path for each of this joints. If this step fails for a joint, then the joint is inserted in a input set of next step.
• try to find random shortcut on each joint in the set.

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

numberOfConsecutiveFailurePerJoints()

static std::size_t hpp::core::pathOptimization::PartialShortcutTraits::numberOfConsecutiveFailurePerJoints ( )

inlinestatic

onlyFullShortcut()

static bool hpp::core::pathOptimization::PartialShortcutTraits::onlyFullShortcut ( )

inlinestatic

progressionMargin()

static value_type hpp::core::pathOptimization::PartialShortcutTraits::progressionMargin ( )

inlinestatic

removeLockedJoints()

static bool hpp::core::pathOptimization::PartialShortcutTraits::removeLockedJoints ( )

inlinestatic