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:

- ompl/geometric/GeneticSearch.h
- ompl/geometric/src/GeneticSearch.cpp