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

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 auto &	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.

unsigned int	getNumNeighbors () const

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

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

Definition at line 225 of file ConnectionStrategy.h.

Constructor & Destructor Documentation

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

k	the maximum number of nearest neighbors to return
bound	the maximum distance for any nearest neighbor to be returned
nn	the nearest neighbors datastruture to use

Definition at line 235 of file ConnectionStrategy.h.

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