37 #ifndef OMPL_GEOMETRIC_IK_GAIK_
38 #define OMPL_GEOMETRIC_IK_GAIK_
40 #include "ompl/base/SpaceInformation.h"
41 #include "ompl/base/goals/GoalRegion.h"
42 #include "ompl/geometric/ik/HCIK.h"
73 const std::vector<base::State*> &hint = std::vector<base::State*>());
90 checkValidity_ = valid;
97 return checkValidity_;
127 poolMutation_ = size;
133 return poolMutation_;
151 maxDistance_ = distance;
171 return checkValidity_ ? si_->isValid(state) :
true;
181 struct IndividualSort
183 bool operator()(
const Individual& a,
const Individual& b)
185 if (a.valid == b.valid)
186 return a.distance < b.distance;
192 base::SpaceInformationPtr si_;
193 base::StateSamplerPtr sampler_;
194 std::vector<Individual> pool_;
195 unsigned int poolSize_;
196 unsigned int poolMutation_;
197 unsigned int poolRandom_;
198 unsigned int generations_;