Added shotgun as Guess::type

blast/blast_optimization.hpp

@@ -33,8 +33,8 @@ struct Guess {
   enum GuessType : u32 {
     custom,
     random,
-    from_list,
-    rrt_connect
+    shotgun,
+    from_list
   };
 
   GuessType type           = random;
@@ -57,17 +57,11 @@ struct Guess {
       candidates(std::move(m)) {
   }
 
-  // Constructor for Guess::random, initializing n_random_shots
+  // Constructor for Guess::shotgun, initializing n_random_shots
   explicit Guess(u32 shots) :
-      type(Guess::random),
+      type(Guess::shotgun),
       n_random_shots(shots) {
   }
-
-  // Constructor for Guess::rrt_connect, initializing parameter
-  explicit Guess(real param) :
-      type(Guess::rrt_connect),
-      parameter(param) {
-  }
 };
 
 enum ConstraintType : unsigned {

blast/optimization/initial_guess.hpp

@@ -86,12 +86,11 @@ inline Array get_best_x_segments(Optimization* opt) {
 inline Array init_guess_segments(Optimization* opt) {
   Array x(opt->bspline.x_len(opt->task));
   switch (opt->guess.type) {
-    case Guess::rrt_connect: {
-      // auto x = guess_rrt<og::RRTConnect>(opt); todo: create and use opt->guess.parameter for range
-      std::cout << "RRTConnect is not yet supported" << std::endl;
+    case Guess::random: {
+      x = guess_random(opt->bspline, opt->task);
       break;
     }
-    case Guess::random: {
+    case Guess::shotgun: {
       x = guess_shot_mean_segments(opt);
       break;
     }
@@ -148,12 +147,11 @@ inline Array get_best_x(Optimization* opt) {
 inline Array init_guess(Optimization* opt) {
   Array x(opt->bspline.x_len(opt->task));
   switch (opt->guess.type) {
-    case Guess::rrt_connect: {
-      // auto x = guess_rrt<og::RRTConnect>(opt); todo: create and use opt.guess.parameter for range
-      std::cout << "RRTConnect is not yet supported" << std::endl;
+    case Guess::random: {
+      x = guess_random(opt->bspline, opt->task);
       break;
     }
-    case Guess::random: {
+    case Guess::shotgun: {
       x = guess_shot_mean(opt);
       break;
     }

examples/example_02_trajectory_optimization.cpp

@@ -69,8 +69,7 @@ int main() {
   // Guess::random tries n_shot random starting points and picks the best
   // one as the initial solution for the optimizer.
   // -----------------------------------------------------------------------
-  opt.guess.type           = Guess::random;
-  opt.guess.n_random_shots = 50;
+  opt.guess.type = Guess::random;
 
   // -----------------------------------------------------------------------
   // Step 6 — Run the optimizer.

examples/example_03_collision_avoidance.cpp

@@ -87,8 +87,7 @@ int main() {
     std::cout << "Attempt " << attempt << "/" << max_attempts << "... ";
 
     // Draw a fresh random initial guess for each attempt.
-    opt.guess.type           = Guess::random;
-    opt.guess.n_random_shots = 30;
+    opt.guess.type = Guess::random;
 
     // optimize() with with_segments (the default) reduces collision constraints
     // to one worst-case value per B-spline segment, keeping the problem tractable

tests/test_helper/test_functions.hpp

@@ -360,10 +360,6 @@ inline host_fn bool is_close(const Guess& guess1, const Guess& guess2, real eps
       if (is_close(guess1.n_random_shots, guess2.n_random_shots))
         return false;
       break;
-    case Guess::rrt_connect:
-      if (!is_close(guess1.parameter, guess2.parameter))
-        return false;
-      break;
     default:
       Assert(false);
   }