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

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

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

## Public Member Functions | |

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 | |

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::KStrategy< Milestone >

Attempt to connect to the k nearest neighbors.

Definition at line 56 of file ConnectionStrategy.h.

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

- ompl/geometric/planners/prm/ConnectionStrategy.h