Inheritance diagram for KinodynamicLocalOptimizer:

Public Types
enum	{ Shortcut, RandomDescent, GradientDescent, DDP }

Public Member Functions
	KinodynamicLocalOptimizer (KinodynamicSpace *s, std::shared_ptr< ObjectiveFunctionalBase > objective)

void	Init (const KinodynamicMilestonePath &path, CSet *goalSet)

virtual void	Init (const State &xinit, CSet *goalSet)

virtual bool	Plan (int maxIters)

virtual bool	Done () const

virtual bool	GetPath (KinodynamicMilestonePath &path)

void	ComputeCosts ()

bool	DoShortcut ()

bool	DoRandomDescent (Real perturbationSize)

bool	DoGradientDescent ()

bool	DoDDP ()

Public Member Functions inherited from KinodynamicPlannerBase
	KinodynamicPlannerBase (KinodynamicSpace *s)

virtual void	Init (const State &xinit, const State &xgoal, Real goalRadius)

virtual void	GetStats (PropertyMap &stats) const

Public Attributes
std::shared_ptr< ObjectiveFunctionalBase >	objective

KinodynamicMilestonePath	bestPath

Real	bestPathCost

std::vector< double >	cumulativeCosts

std::vector< bool >	methodAvailable

std::vector< int >	methodCounts

std::vector< Real >	methodRewards

std::vector< Real >	methodCosts

KinodynamicMilestonePath	tempPath

Public Attributes inherited from KinodynamicPlannerBase
KinodynamicSpace *	space

CSet *	goalSet

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

Public Types

Public Member Functions