HillClimbing.h
65 HillClimbing(const base::SpaceInformationPtr &si) : si_(si), maxImproveSteps_(2), checkValidity_(true)
76 bool tryToImprove(const base::GoalRegion &goal, base::State *state, double nearDistance, double *betterGoalDistance = NULL) const;
void setMaxImproveSteps(unsigned int steps)
Set the number of steps to perform.
Definition: HillClimbing.h:79
bool tryToImprove(const base::GoalRegion &goal, base::State *state, double nearDistance, double *betterGoalDistance=NULL) const
Try to improve a state (reduce distance to goal). The updates are performed by sampling near the stat...
Definition: HillClimbing.cpp:52
bool getValidityCheck() const
Get the state validity flag; if this is false, states are not checked for validity.
Definition: HillClimbing.h:97
A boost shared pointer wrapper for ompl::base::SpaceInformation.
unsigned int getMaxImproveSteps() const
Get the number of steps to perform.
Definition: HillClimbing.h:85
void setValidityCheck(bool valid)
Set the state validity flag; if this is false, states are not checked for validity.
Definition: HillClimbing.h:91