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

Public Attributes
bool	removeLockedJoints
	Whether of not the joint that are locked by the constraints in the path should not be optimized. More...

bool	onlyFullShortcut
	Set it to true if you want to skip step 3 Defaults to false. More...

std::size_t	numberOfConsecutiveFailurePerJoints
	The optimization will stop after a number of consecutive failure on each joint. More...

value_type	progressionMargin
	An iteration will be considered as a failure is the path length did not decrease more than progressionMargin. More...

Constructor & Destructor Documentation

◆ Parameters()

hpp::core::pathOptimization::PartialShortcut::Parameters::Parameters ( )

std::size_t hpp::core::pathOptimization::PartialShortcut::Parameters::numberOfConsecutiveFailurePerJoints

The optimization will stop after a number of consecutive failure on each joint.

Defaults to 5

bool hpp::core::pathOptimization::PartialShortcut::Parameters::onlyFullShortcut

Set it to true if you want to skip step 3 Defaults to false.

value_type hpp::core::pathOptimization::PartialShortcut::Parameters::progressionMargin

An iteration will be considered as a failure is the path length did not decrease more than progressionMargin.

Defaults is 1e-3

bool hpp::core::pathOptimization::PartialShortcut::Parameters::removeLockedJoints

Whether of not the joint that are locked by the constraints in the path should not be optimized.

This is safe if you have the same constraints along the path. Defaults to true