Package edu.wpi.first.math.path
Class TravelingSalesman
java.lang.Object
edu.wpi.first.math.path.TravelingSalesman
public class TravelingSalesman extends Object
Given a list of poses, this class finds the shortest possible route that visits each pose exactly
once and returns to the origin pose.

Constructor Summary
Constructors Constructor Description TravelingSalesman()
Constructs a traveling salesman problem solver with a cost function defined as the 2D distance between poses.TravelingSalesman(ToDoubleBiFunction<Pose2d,Pose2d> cost)
Constructs a traveling salesman problem solver with a userprovided cost function. 
Method Summary

Constructor Details

TravelingSalesman
public TravelingSalesman()Constructs a traveling salesman problem solver with a cost function defined as the 2D distance between poses. 
TravelingSalesman
Constructs a traveling salesman problem solver with a userprovided cost function. Parameters:
cost
 Function that returns the cost between two poses. The sum of the costs for every pair of poses is minimized.


Method Details

solve
Finds the path through every pose that minimizes the cost. The first pose in the returned array is the first pose that was passed in. Type Parameters:
Poses
 A Num defining the length of the path and the number of poses. Parameters:
poses
 An array of Pose2ds the path must pass through.iterations
 The number of times the solver attempts to find a better random neighbor. Returns:
 The optimized path as an array of Pose2ds.
