GeneticSearch.h
bool getValidityCheck() const
Get the state validity flag; if this is false, states are not checked for validity.
Definition: GeneticSearch.h:94
void setTryImprove(bool flag)
Set the flag that determines whether improvements using hill climbing should be attempted for solutio...
Definition: GeneticSearch.h:101
void setValidityCheck(bool valid)
Set the state validity flag; if this is false, states are not checked for validity.
Definition: GeneticSearch.h:87
void setPoolRandomSize(unsigned int size)
Set the number of individuals to randomly sample at each generation.
Definition: GeneticSearch.h:138
void setMaxImproveSteps(unsigned int steps)
Set the number of steps to perform.
Definition: HillClimbing.h:78
void setRange(double distance)
Set the range (distance) to be used when sampling around a state.
Definition: GeneticSearch.h:150
void setPoolMutationSize(unsigned int size)
Set the number of individuals to mutate at each generation.
Definition: GeneticSearch.h:126
void setMaxImproveSteps(unsigned int maxSteps)
Set the number of steps to perform when using hill climbing to improve an individual in the populatio...
Definition: GeneticSearch.h:74
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.
Definition: GeneticSearch.cpp:64
A shared pointer wrapper for ompl::base::SpaceInformation.
unsigned int getMaxImproveSteps() const
Get the number of steps to perform when using hill climbing to improve an individual in the populatio...
Definition: GeneticSearch.h:81
bool getTryImprove() const
Returns true if improvements using hill climbing should be attempted for solutions generated by the g...
Definition: GeneticSearch.h:108
unsigned int getPoolMutationSize() const
Get the number of individuals that are mutated at each generation.
Definition: GeneticSearch.h:132
void setPoolSize(unsigned int size)
Set the number of individuals in the population.
Definition: GeneticSearch.h:114
unsigned int getMaxImproveSteps() const
Get the number of steps to perform.
Definition: HillClimbing.h:84
GeneticSearch(const base::SpaceInformationPtr &si)
Construct an instance of a genetic algorithm for inverse kinematics given the space information to se...
Definition: GeneticSearch.cpp:44
unsigned int getPoolSize() const
Get the number number of individuals in the population.
Definition: GeneticSearch.h:120
Genetic Algorithm for searching valid states.
Definition: GeneticSearch.h:60
unsigned int getPoolRandomSize() const
Get the number of individuals to randomly sample at each generation.
Definition: GeneticSearch.h:144
void setValidityCheck(bool valid)
Set the state validity flag; if this is false, states are not checked for validity.
Definition: HillClimbing.h:90