HillClimbing.h
64 HillClimbing(base::SpaceInformationPtr si) : si_(std::move(si)), maxImproveSteps_(2), checkValidity_(true)
void setMaxImproveSteps(unsigned int steps)
Set the number of steps to perform.
Definition: HillClimbing.h:78
STL namespace.
bool getValidityCheck() const
Get the state validity flag; if this is false, states are not checked for validity.
Definition: HillClimbing.h:96
A shared pointer wrapper for ompl::base::SpaceInformation.
bool tryToImprove(const base::GoalRegion &goal, base::State *state, double nearDistance, double *betterGoalDistance=nullptr) const
Try to improve a state (reduce distance to goal). The updates are performed by sampling near the stat...
Definition: HillClimbing.cpp:51
unsigned int getMaxImproveSteps() const
Get the number of steps to perform.
Definition: HillClimbing.h:84
void setValidityCheck(bool valid)
Set the state validity flag; if this is false, states are not checked for validity.
Definition: HillClimbing.h:90