.. _program_listing_file_src_ompl_geometric_GeneticSearch.h:

Program Listing for File GeneticSearch.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_geometric_GeneticSearch.h>` (``src/ompl/geometric/GeneticSearch.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Ioan Sucan */
   
   #ifndef OMPL_GEOMETRIC_GENETIC_SEARCH_
   #define OMPL_GEOMETRIC_GENETIC_SEARCH_
   
   #include "ompl/base/SpaceInformation.h"
   #include "ompl/base/goals/GoalRegion.h"
   #include "ompl/geometric/HillClimbing.h"
   #include "ompl/util/Console.h"
   
   namespace ompl
   {
       namespace geometric
       {
           class GeneticSearch
           {
           public:
               GeneticSearch(const base::SpaceInformationPtr &si);
               ~GeneticSearch();
   
               bool solve(double solveTime, const base::GoalRegion &goal, base::State *result,
                          const std::vector<base::State *> &hint = std::vector<base::State *>());
   
               void setMaxImproveSteps(unsigned int maxSteps)
               {
                   hc_.setMaxImproveSteps(maxSteps);
               }
   
               unsigned int getMaxImproveSteps() const
               {
                   return hc_.getMaxImproveSteps();
               }
   
               void setValidityCheck(bool valid)
               {
                   checkValidity_ = valid;
                   hc_.setValidityCheck(valid);
               }
   
               bool getValidityCheck() const
               {
                   return checkValidity_;
               }
   
               void setTryImprove(bool flag)
               {
                   tryImprove_ = flag;
               }
   
               bool getTryImprove() const
               {
                   return tryImprove_;
               }
   
               void setPoolSize(unsigned int size)
               {
                   poolSize_ = size;
               }
   
               unsigned int getPoolSize() const
               {
                   return poolSize_;
               }
   
               void setPoolMutationSize(unsigned int size)
               {
                   poolMutation_ = size;
               }
   
               unsigned int getPoolMutationSize() const
               {
                   return poolMutation_;
               }
   
               void setPoolRandomSize(unsigned int size)
               {
                   poolRandom_ = size;
               }
   
               unsigned int getPoolRandomSize() const
               {
                   return poolRandom_;
               }
   
               void setRange(double distance)
               {
                   maxDistance_ = distance;
               }
   
               double getRange() const
               {
                   return maxDistance_;
               }
   
               void clear();
   
           private:
               void tryToImprove(const base::GoalRegion &goal, base::State *state, double distance);
   
               bool valid(const base::State *state) const
               {
                   return checkValidity_ ? si_->isValid(state) : true;
               }
   
               struct Individual
               {
                   base::State *state;
                   double distance;
                   bool valid;
               };
   
               struct IndividualSort
               {
                   bool operator()(const Individual &a, const Individual &b)
                   {
                       if (a.valid == b.valid)
                           return a.distance < b.distance;
                       return a.valid;
                   }
               };
   
               HillClimbing hc_;
               base::SpaceInformationPtr si_;
               base::StateSamplerPtr sampler_;
               std::vector<Individual> pool_;
               unsigned int poolSize_;
               unsigned int poolMutation_;
               unsigned int poolRandom_;
               unsigned int generations_;
               bool checkValidity_;
               bool tryImprove_;
   
               double maxDistance_;
           };
       }
   }
   
   #endif