Inverse Kinematics with Hill Climbing. More...
#include <HCIK.h>
Public Member Functions | |
HCIK (const base::SpaceInformationPtr &si) | |
Constructor. | |
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 state, within the specified distance. If improvements were found, the function returns true and the better goal distance is opionally returned. | |
void | setMaxImproveSteps (unsigned int steps) |
Set the number of steps to perform. | |
unsigned int | getMaxImproveSteps (void) 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 (void) const |
Get the state validity flag; if this is false, states are not checked for validity. |
Inverse Kinematics with Hill Climbing.
@par Short description HCIK does inverse kinematics with hill climbing, starting from a given state. @par External documentation