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ompl::geometric::GAIK Class Reference

Inverse Kinematics with Genetic Algorithms. More...

#include <GAIK.h>

List of all members.

Classes

struct  Individual
struct  IndividualSort

Public Member Functions

 GAIK (const base::SpaceInformationPtr &si)
 Construct an instance of a genetic algorithm for inverse kinematics given the space information to search within.
bool solve (double solveTime, const base::GoalRegion &goal, base::State *result, const std::vector< base::State * > &hint=std::vector< base::State * >())
 Find a state that fits the request.
void setMaxImproveSteps (unsigned int maxSteps)
 Set the number of steps to perform when using hill climbing to improve an individual in the population.
unsigned int getMaxImproveSteps (void) const
 Get the number of steps to perform when using hill climbing to improve an individual in the population.
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.
void setPoolSize (unsigned int size)
 Set the number of individuals in the population.
unsigned int getPoolSize (void) const
 Get the number number of individuals in the population.
void setPoolMutationSize (unsigned int size)
 Set the number of individuals to mutate at each generation.
unsigned int getPoolMutationSize (void) const
 Get the number of individuals that are mutated at each generation.
void setPoolRandomSize (unsigned int size)
 Set the number of individuals to randomly sample at each generation.
unsigned int getPoolRandomSize (void) const
 Get the number of individuals to randomly sample at each generation.
void setRange (double distance)
 Set the range (distance) to be used when sampling around a state.
double getRange (void) const
 Get the range GAIK is using.

Detailed Description

Inverse Kinematics with Genetic Algorithms.

      @par Short description

      GAIK does inverse kinematics, but makes sure the produced
      goal states are in fact valid.

      @par External documentation

Definition at line 63 of file GAIK.h.


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