ompl::geometric::GAIK Class Reference

Inverse Kinematics with Genetic Algorithms. More...

#include <GAIK.h>

List of all members.

Classes
struct	Individual
struct	IndividualSort
Public Member Functions
	GAIK (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 (void) 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 (void) const
	Get the state validity flag; if this is false, states are not checked for validity.
void	setPoolSize (unsigned int size)
	Set the number of individuals in the population.
unsigned int	getPoolSize (void) 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 (void) 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 (void) 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 (void) const
	Get the range GAIK is using.

---

Detailed Description

Inverse Kinematics with Genetic Algorithms.

Short description

GAIK does inverse kinematics, but makes sure the produced goal states are in fact valid.

External documentation

Definition at line 63 of file GAIK.h.

---

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

• src/ompl/geometric/ik/GAIK.h
• src/ompl/geometric/ik/src/GAIK.cpp