ompl::geometric::HillClimbing Class Reference

Hill Climbing search. More...

#include <ompl/geometric/HillClimbing.h>

## Public Member Functions

HillClimbing (base::SpaceInformationPtr si)
Constructor.

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 state, within the specified distance. If improvements were found, the function returns true and the better goal distance is optionally returned.

void setMaxImproveSteps (unsigned int steps)
Set the number of steps to perform.

unsigned int getMaxImproveSteps () const
Get the number of steps to perform.

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.

## Detailed Description

Hill Climbing search.

Short description

HillClimbing searches for a state using hill climbing, starting from a given seed state.

External documentation

Definition at line 60 of file HillClimbing.h.

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