KrisLibrary
1.0.0
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A termination condition for a planner. Supports max iteration count, time limit, absolute cost, and cost improvement conditions. More...
#include <AnyMotionPlanner.h>
Public Member Functions | |
bool | LoadJSON (const std::string &str) |
Load settings from JSON string. | |
std::string | SaveJSON () const |
Save settings to JSON string. | |
Public Attributes | |
bool | foundSolution |
Stop on the first solution found. | |
int | maxIters |
Stop when this number of iterations have been computed (default 1000) | |
Real | timeLimit |
Stop when this time limit (in seconds) has expired (default Inf) | |
Real | costThreshold |
Stop when the solution cost decreases below the threshold (default 0) | |
Real | costImprovementPeriod |
Stop when the solution cost improvement over the given period of time decreases below costImprovementThreshold (default inactive) | |
Real | costImprovementThreshold |
A termination condition for a planner. Supports max iteration count, time limit, absolute cost, and cost improvement conditions.
Can be converted to/from JSON strings. The format is very simple, simply a dictionary whose keys are the names of the attributes of this structure.