ompl::geometric::GeneticSearch Class Reference

Genetic Algorithm for searching valid states. More...

#include <ompl/geometric/GeneticSearch.h>

Public Member Functions

 GeneticSearch (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 () 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 () const
 Get the state validity flag; if this is false, states are not checked for validity.
 
void setTryImprove (bool flag)
 Set the flag that determines whether improvements using hill climbing should be attempted for solutions generated by the genetic algorithm.
 
bool getTryImprove () const
 Returns true if improvements using hill climbing should be attempted for solutions generated by the genetic algorithm. Returns false otherwise.
 
void setPoolSize (unsigned int size)
 Set the number of individuals in the population.
 
unsigned int getPoolSize () 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 () 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 () 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 () const
 Get the range GeneticSearch is using.
 
void clear ()
 Clear the pool of samples.
 

Detailed Description

Genetic Algorithm for searching valid states.

Short description

GeneticSearch does search for valid states using a genetic algorithm

External documentation

Definition at line 60 of file GeneticSearch.h.


The documentation for this class was generated from the following files: