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.
See Also:

  • Constructor Details

    • TravelingSalesman

      public TravelingSalesman()
      Constructs a traveling salesman problem solver with a cost function defined as the 2D distance between poses.

    • TravelingSalesman

      public TravelingSalesman(ToDoubleBiFunction<Pose2d,Pose2d> cost)
      Constructs a traveling salesman problem solver with a user-provided 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

      public <Poses extends Num> Pose2d[] solve(Pose2d[] poses, int iterations)
      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.