Inverse Kinematics with Genetic Algorithms. More...
#include <GAIK.h>
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. |
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