Hill Climbing search. More...
#include <ompl/geometric/HillClimbing.h>
Public Member Functions | |
HillClimbing (base::SpaceInformationPtr si) | |
Constructor. More... | |
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. More... | |
void | setMaxImproveSteps (unsigned int steps) |
Set the number of steps to perform. More... | |
unsigned int | getMaxImproveSteps () const |
Get the number of steps to perform. More... | |
void | setValidityCheck (bool valid) |
Set the state validity flag; if this is false, states are not checked for validity. More... | |
bool | getValidityCheck () const |
Get the state validity flag; if this is false, states are not checked for validity. More... | |
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()
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inline |
Constructor.
Definition at line 64 of file HillClimbing.h.
Member Function Documentation
◆ getMaxImproveSteps()
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inline |
Get the number of steps to perform.
Definition at line 84 of file HillClimbing.h.
◆ getValidityCheck()
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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()
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inline |
Set the number of steps to perform.
Definition at line 78 of file HillClimbing.h.
◆ setValidityCheck()
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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:
- ompl/geometric/HillClimbing.h
- ompl/geometric/src/HillClimbing.cpp