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ompl::geometric::HillClimbing Class Reference

Hill Climbing search. More...

#include <ompl/geometric/HillClimbing.h>

Public Member Functions

 HillClimbing (base::SpaceInformationPtr si)
 Constructor.
 
bool tryToImprove (const base::GoalRegion &goal, base::State *state, double nearDistance, double *betterGoalDistance=nullptr) 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 optionally returned.
 
void setMaxImproveSteps (unsigned int steps)
 Set the number of steps to perform.
 
unsigned int getMaxImproveSteps () const
 Get 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 getValidityCheck () const
 Get the state validity flag; if this is false, states are not checked for validity.
 

Detailed Description

Hill Climbing search.

Short description

HillClimbing searches for a state using hill climbing, starting from a given seed state.

External documentation

Definition at line 60 of file HillClimbing.h.

Constructor & Destructor Documentation

◆ HillClimbing()

ompl::geometric::HillClimbing::HillClimbing ( base::SpaceInformationPtr si)
inline

Constructor.

Definition at line 64 of file HillClimbing.h.

Member Function Documentation

◆ getMaxImproveSteps()

unsigned int ompl::geometric::HillClimbing::getMaxImproveSteps ( ) const
inline

Get the number of steps to perform.

Definition at line 84 of file HillClimbing.h.

◆ getValidityCheck()

bool ompl::geometric::HillClimbing::getValidityCheck ( ) const
inline

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

Definition at line 96 of file HillClimbing.h.

◆ setMaxImproveSteps()

void ompl::geometric::HillClimbing::setMaxImproveSteps ( unsigned int steps)
inline

Set the number of steps to perform.

Definition at line 78 of file HillClimbing.h.

◆ setValidityCheck()

void ompl::geometric::HillClimbing::setValidityCheck ( bool valid)
inline

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

Definition at line 90 of file HillClimbing.h.

◆ tryToImprove()

bool ompl::geometric::HillClimbing::tryToImprove ( const base::GoalRegion & goal,
base::State * state,
double nearDistance,
double * betterGoalDistance = nullptr ) 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 optionally returned.

Definition at line 51 of file HillClimbing.cpp.


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