PathHybridization.h
95 void matchPaths(const geometric::PathGeometric &p, const geometric::PathGeometric &q, double gapCost,
const base::PathPtr & getHybridPath() const
Get the currently computed hybrid path. computeHybridPath() needs to have been called before...
Definition: PathHybridization.cpp:102
const std::string & getName() const
Get the name of the algorithm.
Definition: PathHybridization.cpp:83
void computeHybridPath()
Run Dijkstra's algorithm to find out the shortest path among the mixed ones.
Definition: PathHybridization.cpp:88
A shared pointer wrapper for ompl::base::SpaceInformation.
void print(std::ostream &out=std::cout) const
Print information about the computed path.
Definition: PathHybridization.cpp:73
unsigned int recordPath(const base::PathPtr &pp, bool matchAcrossGaps)
Add a path to the hybridization. If matchAcrossGaps is true, more possible edge connections are evalu...
Definition: PathHybridization.cpp:107
std::size_t pathCount() const
Get the number of paths that are currently considered as part of the hybridization.
Definition: PathHybridization.cpp:254
void matchPaths(const geometric::PathGeometric &p, const geometric::PathGeometric &q, double gapCost, std::vector< int > &indexP, std::vector< int > &indexQ) const
Given two geometric paths p and q, compute the alignment of the paths using dynamic programming in an...
Definition: PathHybridization.cpp:259
PathHybridization(base::SpaceInformationPtr si)
The constructor needs to know about the space information of the paths it will operate on...
Definition: PathHybridization.cpp:50
Given multiple geometric paths, attempt to combine them in order to obtain a shorter solution...
Definition: PathHybridization.h:69
A shared pointer wrapper for ompl::base::Path.