Loading...
Searching...
No Matches
HillClimbing.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2008, Willow Garage, Inc.
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Willow Garage nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_GEOMETRIC_HILL_CLIMBING_
38#define OMPL_GEOMETRIC_HILL_CLIMBING_
39
40#include <utility>
41
42#include "ompl/base/SpaceInformation.h"
43#include "ompl/base/goals/GoalRegion.h"
44
45namespace ompl
46{
47 namespace geometric
48 {
58
61 {
62 public:
64 HillClimbing(base::SpaceInformationPtr si) : si_(std::move(si)), maxImproveSteps_(2), checkValidity_(true)
65 {
66 }
67
68 ~HillClimbing() = default;
69
74 bool tryToImprove(const base::GoalRegion &goal, base::State *state, double nearDistance,
75 double *betterGoalDistance = nullptr) const;
76
78 void setMaxImproveSteps(unsigned int steps)
79 {
80 maxImproveSteps_ = steps;
81 }
82
84 unsigned int getMaxImproveSteps() const
85 {
86 return maxImproveSteps_;
87 }
88
90 void setValidityCheck(bool valid)
91 {
92 checkValidity_ = valid;
93 }
94
96 bool getValidityCheck() const
97 {
98 return checkValidity_;
99 }
100
101 private:
102 bool valid(const base::State *state) const
103 {
104 return checkValidity_ ? si_->isValid(state) : true;
105 }
106
107 base::SpaceInformationPtr si_;
108 unsigned int maxImproveSteps_;
109 bool checkValidity_;
110 };
111 }
112}
113
114#endif
Definition of a goal region.
Definition GoalRegion.h:48
Definition of an abstract state.
Definition State.h:50
Hill Climbing search.
bool getValidityCheck() const
Get the state validity flag; if this is false, states are not checked for validity.
HillClimbing(base::SpaceInformationPtr si)
Constructor.
void setValidityCheck(bool valid)
Set the state validity flag; if this is false, states are not checked for validity.
unsigned int getMaxImproveSteps() const
Get the number of steps to perform.
void setMaxImproveSteps(unsigned int steps)
Set the number of steps to perform.
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 stat...
This namespace contains code that is specific to planning under geometric constraints.
Main namespace. Contains everything in this library.
STL namespace.