ompl::geometric::KBoundedStrategy< Milestone > Class Template Reference

Return at most k neighbors, as long as they are also within a specified bound. More...

#include <ompl/geometric/planners/prm/ConnectionStrategy.h>

Inheritance diagram for ompl::geometric::KBoundedStrategy< Milestone >:

Public Member Functions

 KBoundedStrategy (const unsigned int k, const double bound, const std::shared_ptr< NearestNeighbors< Milestone >> &nn)
 Constructor. More...
 
const std::vector< Milestone > & operator() (const Milestone &m)
 
- Public Member Functions inherited from ompl::geometric::KStrategy< Milestone >
 KStrategy (const unsigned int k, std::shared_ptr< NearestNeighbors< Milestone >> nn)
 Constructor takes the maximum number of nearest neighbors to return (k) and the nearest neighbors datastruture to use (nn)
 
void setNearestNeighbors (const std::shared_ptr< NearestNeighbors< Milestone >> &nn)
 Set the nearest neighbors datastructure to use.
 
const std::vector< Milestone > & operator() (const Milestone &m)
 Given a milestone m, find the number of nearest neighbors connection attempts that should be made from it, according to the connection strategy.
 

Protected Attributes

const double bound_
 The maximum distance at which nearby milestones are reported.
 
- Protected Attributes inherited from ompl::geometric::KStrategy< Milestone >
unsigned int k_
 Maximum number of nearest neighbors to attempt to connect new milestones to.
 
std::shared_ptr< NearestNeighbors< Milestone > > nn_
 Nearest neighbors data structure.
 
std::vector< Milestone > neighbors_
 Scratch space for storing k-nearest neighbors.
 

Detailed Description

template<class Milestone>
class ompl::geometric::KBoundedStrategy< Milestone >

Return at most k neighbors, as long as they are also within a specified bound.

Definition at line 157 of file ConnectionStrategy.h.

Constructor & Destructor Documentation

◆ KBoundedStrategy()

template<class Milestone>
ompl::geometric::KBoundedStrategy< Milestone >::KBoundedStrategy ( const unsigned int  k,
const double  bound,
const std::shared_ptr< NearestNeighbors< Milestone >> &  nn 
)
inline

Constructor.

Parameters
kthe maximum number of nearest neighbors to return
boundthe maximum distance for any nearest neighbor to be returned
nnthe nearest neighbors datastruture to use

Definition at line 167 of file ConnectionStrategy.h.


The documentation for this class was generated from the following file: