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<a href="#pub-methods">Public Member Functions</a>  </div>
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<div class="title">ompl::geometric::HCIK Class Reference</div>  </div>
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<p>Inverse Kinematics with Hill Climbing.  
 <a href="classompl_1_1geometric_1_1HCIK.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="HCIK_8h_source.html">HCIK.h</a>&gt;</code></p>

<p><a href="classompl_1_1geometric_1_1HCIK-members.html">List of all members.</a></p>
<table class="memberdecls">
<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="aa123751429e0ebf0e4627ccece005a16"></a><!-- doxytag: member="ompl::geometric::HCIK::HCIK" ref="aa123751429e0ebf0e4627ccece005a16" args="(const base::SpaceInformationPtr &amp;si)" -->
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1HCIK.html#aa123751429e0ebf0e4627ccece005a16">HCIK</a> (const <a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">base::SpaceInformationPtr</a> &amp;si)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2a82e7ac320e75f612c76eb9eb2ccbf6"></a><!-- doxytag: member="ompl::geometric::HCIK::tryToImprove" ref="a2a82e7ac320e75f612c76eb9eb2ccbf6" args="(const base::GoalRegion &amp;goal, base::State *state, double nearDistance, double *betterGoalDistance=NULL) const " -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1HCIK.html#a2a82e7ac320e75f612c76eb9eb2ccbf6">tryToImprove</a> (const <a class="el" href="classompl_1_1base_1_1GoalRegion.html">base::GoalRegion</a> &amp;goal, <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *state, double nearDistance, double *betterGoalDistance=NULL) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Try to improve a state (reduce distance to goal). The updates are performed by sampling near the state, within the specified distance. If improvements were found, the function returns true and the better goal distance is opionally returned. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a699b9621de551da2b4165d90b105a6dc"></a><!-- doxytag: member="ompl::geometric::HCIK::setMaxImproveSteps" ref="a699b9621de551da2b4165d90b105a6dc" args="(unsigned int steps)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1HCIK.html#a699b9621de551da2b4165d90b105a6dc">setMaxImproveSteps</a> (unsigned int steps)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of steps to perform. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a49ab046cc7bc7606765a316333b52be2"></a><!-- doxytag: member="ompl::geometric::HCIK::getMaxImproveSteps" ref="a49ab046cc7bc7606765a316333b52be2" args="(void) const " -->
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1HCIK.html#a49ab046cc7bc7606765a316333b52be2">getMaxImproveSteps</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of steps to perform. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7421212424711b101e72569163af786c"></a><!-- doxytag: member="ompl::geometric::HCIK::setValidityCheck" ref="a7421212424711b101e72569163af786c" args="(bool valid)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1HCIK.html#a7421212424711b101e72569163af786c">setValidityCheck</a> (bool valid)</td></tr>
<tr><td class="mdescLeft">&#160;</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="a49007c2324587a10656c39c30150b4f0"></a><!-- doxytag: member="ompl::geometric::HCIK::getValidityCheck" ref="a49007c2324587a10656c39c30150b4f0" args="(void) const " -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1HCIK.html#a49007c2324587a10656c39c30150b4f0">getValidityCheck</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the state validity flag; if this is false, states are not checked for validity. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Inverse Kinematics with Hill Climbing. </p>
<p><a class="anchor" id="HCIK"></a></p>
<dl class="user"><dt><b>Short description</b></dt><dd></dd></dl>
<p><a class="el" href="classompl_1_1geometric_1_1HCIK.html" title="Inverse Kinematics with Hill Climbing.">HCIK</a> does inverse kinematics with hill climbing, starting from a given state.</p>
<dl class="user"><dt><b>External documentation</b></dt><dd></dd></dl>

<p>Definition at line <a class="el" href="HCIK_8h_source.html#l00060">60</a> of file <a class="el" href="HCIK_8h_source.html">HCIK.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="HCIK_8h_source.html">HCIK.h</a></li>
<li>src/ompl/geometric/ik/src/<a class="el" href="HCIK_8cpp_source.html">HCIK.cpp</a></li>
</ul>
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  <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> &bull;
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