Random shortcut. More...

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

Inheritance diagram for hpp::core::pathOptimization::RandomShortcut:

Collaboration diagram for hpp::core::pathOptimization::RandomShortcut:

Public Member Functions
virtual PathVectorPtr_t	optimize (const PathVectorPtr_t &path)
	Optimize path. More...

Public Member Functions inherited from hpp::core::PathOptimizer
virtual	~PathOptimizer ()

const Problem &	problem () const
	Get problem. More...

void	interrupt ()
	Interrupt path optimization. More...

Static Public Member Functions
static RandomShortcutPtr_t	create (const Problem &problem)
	Return shared pointer to new object. More...

Protected Member Functions
	RandomShortcut (const Problem &problem)

virtual bool	shootTimes (const PathVectorPtr_t &currentOpt, const value_type &t0, value_type &t1, value_type &t2, const value_type &t3)
	Sample times along currentOpt. More...

Protected Member Functions inherited from hpp::core::PathOptimizer
	PathOptimizer (const Problem &problem)

PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const

Additional Inherited Members
Protected Attributes inherited from hpp::core::PathOptimizer
bool	interrupt_
	Whether to interrupt computation Set to false at start of optimize method, set to true by method interrupt. More...

Detailed Description

Random shortcut.

Path optimizer that iteratively samples random configurations along a path and that tries to connect these configurations by a call to the steering method.

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

Constructor & Destructor Documentation

◆ RandomShortcut()

hpp::core::pathOptimization::RandomShortcut::RandomShortcut ( const Problem & problem )

protected

Member Function Documentation

◆ create()

static RandomShortcutPtr_t hpp::core::pathOptimization::RandomShortcut::create ( const Problem & problem )

static

Return shared pointer to new object.

◆ optimize()

virtual PathVectorPtr_t hpp::core::pathOptimization::RandomShortcut::optimize ( const PathVectorPtr_t & path )

virtual

Optimize path.

Implements hpp::core::PathOptimizer.

◆ shootTimes()

virtual bool hpp::core::pathOptimization::RandomShortcut::shootTimes	(	const PathVectorPtr_t &	currentOpt,
		const value_type &	t0,
		value_type &	t1,
		value_type &	t2,
		const value_type &	t3
	)

protectedvirtual

Sample times along currentOpt.

Parameters

	currentOpt	the current path
[in]	t0,t3 are	the start and end of currentOpt
[out]	t1,t2	are the position where to apply shortcut.

Warning: The function should output t1 < t2

Returns: true in case of success

Public Member Functions

Static Public Member Functions

Protected Member Functions