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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
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<div class="title">ompl::geometric::GAIK Class Reference</div> </div>
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<!-- doxytag: class="ompl::geometric::GAIK" -->
<p>Inverse Kinematics with Genetic Algorithms.
<a href="classompl_1_1geometric_1_1GAIK.html#details">More...</a></p>
<p><code>#include <<a class="el" href="GAIK_8h_source.html">GAIK.h</a>></code></p>
<p><a href="classompl_1_1geometric_1_1GAIK-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><b>Individual</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><b>IndividualSort</b></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a52056379cbea6e9d849d4ed508235b7e"></a><!-- doxytag: member="ompl::geometric::GAIK::GAIK" ref="a52056379cbea6e9d849d4ed508235b7e" args="(const base::SpaceInformationPtr &si)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html#a52056379cbea6e9d849d4ed508235b7e">GAIK</a> (const <a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">base::SpaceInformationPtr</a> &si)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Construct an instance of a genetic algorithm for inverse kinematics given the space information to search within. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab6bd5e917a6e185ffa976b844d2fc326"></a><!-- doxytag: member="ompl::geometric::GAIK::solve" ref="ab6bd5e917a6e185ffa976b844d2fc326" args="(double solveTime, const base::GoalRegion &goal, base::State *result, const std::vector< base::State * > &hint=std::vector< base::State * >())" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html#ab6bd5e917a6e185ffa976b844d2fc326">solve</a> (double solveTime, const <a class="el" href="classompl_1_1base_1_1GoalRegion.html">base::GoalRegion</a> &goal, <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *result, const std::vector< <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> * > &hint=std::vector< <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> * >())</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Find a state that fits the request. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab371ba978e6d71bf15f34f5504b28151"></a><!-- doxytag: member="ompl::geometric::GAIK::setMaxImproveSteps" ref="ab371ba978e6d71bf15f34f5504b28151" args="(unsigned int maxSteps)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html#ab371ba978e6d71bf15f34f5504b28151">setMaxImproveSteps</a> (unsigned int maxSteps)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the number of steps to perform when using hill climbing to improve an individual in the population. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a02c30d3414073ec7ad343923e7c8b83c"></a><!-- doxytag: member="ompl::geometric::GAIK::getMaxImproveSteps" ref="a02c30d3414073ec7ad343923e7c8b83c" args="(void) const " -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html#a02c30d3414073ec7ad343923e7c8b83c">getMaxImproveSteps</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the number of steps to perform when using hill climbing to improve an individual in the population. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a56827a543d87ef81ffcec2baf19cd5e0"></a><!-- doxytag: member="ompl::geometric::GAIK::setValidityCheck" ref="a56827a543d87ef81ffcec2baf19cd5e0" args="(bool valid)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html#a56827a543d87ef81ffcec2baf19cd5e0">setValidityCheck</a> (bool valid)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the state validity flag; if this is false, states are not checked for validity. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a12c666ade172939e497be7559162ef54"></a><!-- doxytag: member="ompl::geometric::GAIK::getValidityCheck" ref="a12c666ade172939e497be7559162ef54" args="(void) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html#a12c666ade172939e497be7559162ef54">getValidityCheck</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the state validity flag; if this is false, states are not checked for validity. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aee2658737a44ffa7cd1e623299d74f24"></a><!-- doxytag: member="ompl::geometric::GAIK::setPoolSize" ref="aee2658737a44ffa7cd1e623299d74f24" args="(unsigned int size)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html#aee2658737a44ffa7cd1e623299d74f24">setPoolSize</a> (unsigned int size)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the number of individuals in the population. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a621475f0effc0ab4e3842aab635d4aab"></a><!-- doxytag: member="ompl::geometric::GAIK::getPoolSize" ref="a621475f0effc0ab4e3842aab635d4aab" args="(void) const " -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html#a621475f0effc0ab4e3842aab635d4aab">getPoolSize</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the number number of individuals in the population. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a66971c6c3f028121a427edacb87db8c6"></a><!-- doxytag: member="ompl::geometric::GAIK::setPoolMutationSize" ref="a66971c6c3f028121a427edacb87db8c6" args="(unsigned int size)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html#a66971c6c3f028121a427edacb87db8c6">setPoolMutationSize</a> (unsigned int size)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the number of individuals to mutate at each generation. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae7a55691e50fd12ca7c3e689c167d2aa"></a><!-- doxytag: member="ompl::geometric::GAIK::getPoolMutationSize" ref="ae7a55691e50fd12ca7c3e689c167d2aa" args="(void) const " -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html#ae7a55691e50fd12ca7c3e689c167d2aa">getPoolMutationSize</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the number of individuals that are mutated at each generation. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac7548a3746c004fa6090b7e55c43f9f5"></a><!-- doxytag: member="ompl::geometric::GAIK::setPoolRandomSize" ref="ac7548a3746c004fa6090b7e55c43f9f5" args="(unsigned int size)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html#ac7548a3746c004fa6090b7e55c43f9f5">setPoolRandomSize</a> (unsigned int size)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the number of individuals to randomly sample at each generation. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac2b5a11624751f941f2651ce0f60bbab"></a><!-- doxytag: member="ompl::geometric::GAIK::getPoolRandomSize" ref="ac2b5a11624751f941f2651ce0f60bbab" args="(void) const " -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html#ac2b5a11624751f941f2651ce0f60bbab">getPoolRandomSize</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the number of individuals to randomly sample at each generation. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeb034aedbb214574c8384bb95d75ac65"></a><!-- doxytag: member="ompl::geometric::GAIK::setRange" ref="aeb034aedbb214574c8384bb95d75ac65" args="(double distance)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html#aeb034aedbb214574c8384bb95d75ac65">setRange</a> (double distance)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the range (distance) to be used when sampling around a state. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab9f7d1940b6694fb1be283d33fb02c9f"></a><!-- doxytag: member="ompl::geometric::GAIK::getRange" ref="ab9f7d1940b6694fb1be283d33fb02c9f" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1GAIK.html#ab9f7d1940b6694fb1be283d33fb02c9f">getRange</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the range <a class="el" href="classompl_1_1geometric_1_1GAIK.html" title="Inverse Kinematics with Genetic Algorithms.">GAIK</a> is using. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Inverse Kinematics with Genetic Algorithms. </p>
<p><a class="anchor" id="GAIK"></a></p>
<dl class="user"><dt><b>Short description</b></dt><dd></dd></dl>
<p><a class="el" href="classompl_1_1geometric_1_1GAIK.html" title="Inverse Kinematics with Genetic Algorithms.">GAIK</a> does inverse kinematics, but makes sure the produced goal states are in fact valid.</p>
<dl class="user"><dt><b>External documentation</b></dt><dd></dd></dl>
<p>Definition at line <a class="el" href="GAIK_8h_source.html#l00063">63</a> of file <a class="el" href="GAIK_8h_source.html">GAIK.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/geometric/ik/<a class="el" href="GAIK_8h_source.html">GAIK.h</a></li>
<li>src/ompl/geometric/ik/src/<a class="el" href="GAIK_8cpp_source.html">GAIK.cpp</a></li>
</ul>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
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