HillClimbing.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_GEOMETRIC_HILL_CLIMBING_
#define OMPL_GEOMETRIC_HILL_CLIMBING_
 
#include <utility>
 
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/goals/GoalRegion.h"
 
namespace ompl
{
    namespace geometric
    {
        class HillClimbing
        {
        public:
            HillClimbing(base::SpaceInformationPtr si) : si_(std::move(si)), maxImproveSteps_(2), checkValidity_(true)
            {
            }
 
            ~HillClimbing() = default;
 
            bool tryToImprove(const base::GoalRegion &goal, base::State *state, double nearDistance,
                              double *betterGoalDistance = nullptr) const;
 
            void setMaxImproveSteps(unsigned int steps)
            {
                maxImproveSteps_ = steps;
            }
 
            unsigned int getMaxImproveSteps() const
            {
                return maxImproveSteps_;
            }
 
            void setValidityCheck(bool valid)
            {
                checkValidity_ = valid;
            }
 
            bool getValidityCheck() const
            {
                return checkValidity_;
            }
 
        private:
            bool valid(const base::State *state) const
            {
                return checkValidity_ ? si_->isValid(state) : true;
            }
 
            base::SpaceInformationPtr si_;
            unsigned int maxImproveSteps_;
            bool checkValidity_;
        };
    }
}
 
#endif