/home/slemaign/softs-local/BioMove3D-git/planner/p3d_potential.c File Reference

gradient descent algorithm More...

#include "Util-pkg.h"
#include "P3d-pkg.h"
#include "Localpath-pkg.h"
#include "Collision-pkg.h"
#include "Planner-pkg.h"

Functions
int	p3d_projectedGradientDescent (p3d_rob *rob, p3d_strippoint *sp, double d0, configPt q, int *ntest)
	calculate the new strippoint configuration with a gradient descent method
int	p3d_quickGradientDescent (p3d_rob *rob, p3d_strippoint *sp, double d0, configPt q, int *ntest)
	descend the gradient without projection

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Detailed Description

gradient descent algorithm

Author:

E.Ferre

Date:

Aug 2001

Set of functions for gradient calculation, projection on the configuration space and gradient descent

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Function Documentation

int p3d_projectedGradientDescent	(	p3d_rob *	rob,
		p3d_strippoint *	sp,
		double	d0,
		configPt	q,
		int *	ntest
	)

calculate the new strippoint configuration with a gradient descent method

Parameters:

rob	the robot
sp	the strippoint
d0	minimal distance from obstacles

Return values:

q	the new config.(must be allocated)
ntest	number of collision test is added

Returns:

TRUE if q is different from sp->q

p3d_quickGradientDescent	(	p3d_rob *	rob,
		p3d_strippoint *	sp,
		double	d0,
		configPt	q,
		int *	ntest
	)

descend the gradient without projection

Parameters:

rob	the robot
sp	the strippoint
d0	minimal distance from obstacles

Return values:

q	the new config.(must be allocated)
ntest	number of collision test is added

Returns:

TRUE if q is different from sp->q