37 #ifndef OMPL_GEOMETRIC_HILL_CLIMBING_
38 #define OMPL_GEOMETRIC_HILL_CLIMBING_
40 #include "ompl/base/SpaceInformation.h"
41 #include "ompl/base/goals/GoalRegion.h"
81 maxImproveSteps_ = steps;
87 return maxImproveSteps_;
93 checkValidity_ = valid;
99 return checkValidity_;
106 return checkValidity_ ? si_->isValid(state) :
true;
110 unsigned int maxImproveSteps_;
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...
void setMaxImproveSteps(unsigned int steps)
Set the number of steps to perform.
bool getValidityCheck(void) const
Get the state validity flag; if this is false, states are not checked for validity.
Definition of an abstract state.
unsigned int getMaxImproveSteps(void) const
Get the number of steps to perform.
HillClimbing(const base::SpaceInformationPtr &si)
Constructor.
Definition of a goal region.
void setValidityCheck(bool valid)
Set the state validity flag; if this is false, states are not checked for validity.