HillClimbing.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_HILL_CLIMBING_
38 #define OMPL_GEOMETRIC_HILL_CLIMBING_
39 
40 #include <utility>
41 
42 #include "ompl/base/SpaceInformation.h"
43 #include "ompl/base/goals/GoalRegion.h"
44 
45 namespace ompl
46 {
47  namespace geometric
48  {
61  {
62  public:
64  HillClimbing(base::SpaceInformationPtr si) : si_(std::move(si)), maxImproveSteps_(2), checkValidity_(true)
65  {
66  }
67 
68  ~HillClimbing() = default;
69 
74  bool tryToImprove(const base::GoalRegion &goal, base::State *state, double nearDistance,
75  double *betterGoalDistance = nullptr) const;
76 
78  void setMaxImproveSteps(unsigned int steps)
79  {
80  maxImproveSteps_ = steps;
81  }
82 
84  unsigned int getMaxImproveSteps() const
85  {
86  return maxImproveSteps_;
87  }
88 
90  void setValidityCheck(bool valid)
91  {
92  checkValidity_ = valid;
93  }
94 
96  bool getValidityCheck() const
97  {
98  return checkValidity_;
99  }
100 
101  private:
102  bool valid(const base::State *state) const
103  {
104  return checkValidity_ ? si_->isValid(state) : true;
105  }
106 
108  unsigned int maxImproveSteps_;
109  bool checkValidity_;
110  };
111  }
112 }
113 
114 #endif
void setMaxImproveSteps(unsigned int steps)
Set the number of steps to perform.
Definition: HillClimbing.h:78
STL namespace.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
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 of an abstract state.
Definition: State.h:49
HillClimbing(base::SpaceInformationPtr si)
Constructor.
Definition: HillClimbing.h:64
unsigned int getMaxImproveSteps() const
Get the number of steps to perform.
Definition: HillClimbing.h:84
Definition of a goal region.
Definition: GoalRegion.h:47
Hill Climbing search.
Definition: HillClimbing.h:60
void setValidityCheck(bool valid)
Set the state validity flag; if this is false, states are not checked for validity.
Definition: HillClimbing.h:90