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PathHybridization.h
101 void matchPaths(const geometric::PathGeometric &p, const geometric::PathGeometric &q, double gapValue,
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
Given multiple geometric paths, attempt to combine them in order to obtain a shorter solution.
Definition PathHybridization.h:71
const std::string & getName() const
Get the name of the algorithm.
Definition PathHybridization.cpp:103
const geometric::PathGeometricPtr & getHybridPath() const
Get the currently computed hybrid path. computeHybridPath() needs to have been called before.
Definition PathHybridization.cpp:132
void computeHybridPath()
Run Dijkstra's algorithm to find out the lowest-cost path among the mixed ones.
Definition PathHybridization.cpp:108
void print(std::ostream &out=std::cout) const
Print information about the computed path.
Definition PathHybridization.cpp:93
void matchPaths(const geometric::PathGeometric &p, const geometric::PathGeometric &q, double gapValue, std::vector< int > &indexP, std::vector< int > &indexQ) const
Given two geometric paths p and q, compute the alignment of the paths using dynamic programming in an...
Definition PathHybridization.cpp:284
unsigned int recordPath(const geometric::PathGeometricPtr &pp, bool matchAcrossGaps)
Add a path to the hybridization. If matchAcrossGaps is true, more possible edge connections are evalu...
Definition PathHybridization.cpp:137
std::size_t pathCount() const
Get the number of paths that are currently considered as part of the hybridization.
Definition PathHybridization.cpp:279