HillClimbing.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_HILL_CLIMBING_
38 #define OMPL_GEOMETRIC_HILL_CLIMBING_
39 
40 #include "ompl/base/SpaceInformation.h"
41 #include "ompl/base/goals/GoalRegion.h"
42 
43 namespace ompl
44 {
45 
46  namespace geometric
47  {
48 
61  {
62  public:
63 
65  HillClimbing(const base::SpaceInformationPtr &si) : si_(si), maxImproveSteps_(2), checkValidity_(true)
66  {
67  }
68 
69  ~HillClimbing()
70  {
71  }
72 
76  bool tryToImprove(const base::GoalRegion &goal, base::State *state, double nearDistance, double *betterGoalDistance = NULL) const;
77 
79  void setMaxImproveSteps(unsigned int steps)
80  {
81  maxImproveSteps_ = steps;
82  }
83 
85  unsigned int getMaxImproveSteps() const
86  {
87  return maxImproveSteps_;
88  }
89 
91  void setValidityCheck(bool valid)
92  {
93  checkValidity_ = valid;
94  }
95 
97  bool getValidityCheck() const
98  {
99  return checkValidity_;
100  }
101 
102  private:
103 
104  bool valid(const base::State *state) const
105  {
106  return checkValidity_ ? si_->isValid(state) : true;
107  }
108 
110  unsigned int maxImproveSteps_;
111  bool checkValidity_;
112  };
113 
114  }
115 
116 }
117 
118 #endif
void setMaxImproveSteps(unsigned int steps)
Set the number of steps to perform.
Definition: HillClimbing.h:79
Main namespace. Contains everything in this library.
Definition: Cost.h:42
bool tryToImprove(const base::GoalRegion &goal, base::State *state, double nearDistance, double *betterGoalDistance=NULL) const
Try to improve a state (reduce distance to goal). The updates are performed by sampling near the stat...
bool getValidityCheck() const
Get the state validity flag; if this is false, states are not checked for validity.
Definition: HillClimbing.h:97
A boost shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
unsigned int getMaxImproveSteps() const
Get the number of steps to perform.
Definition: HillClimbing.h:85
HillClimbing(const base::SpaceInformationPtr &si)
Constructor.
Definition: HillClimbing.h:65
Definition of a goal region.
Definition: GoalRegion.h:50
Hill Climbing search.
Definition: HillClimbing.h:60
void setValidityCheck(bool valid)
Set the state validity flag; if this is false, states are not checked for validity.
Definition: HillClimbing.h:91