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ompl::geometric::HCIK Class Reference

Inverse Kinematics with Hill Climbing. More...

#include <HCIK.h>

List of all members.

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.

Detailed Description

Inverse Kinematics with Hill Climbing.

      @par Short description

      HCIK does inverse kinematics with hill climbing, starting from a given state.

      @par External documentation

Definition at line 60 of file HCIK.h.


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