ompl::control::KPIECE1::CloseSamples Struct Reference

Bounded set of good samples. More...

#include <ompl/control/planners/kpiece/KPIECE1.h>

Public Member Functions

 CloseSamples (unsigned int size)
 Construct an object to maintain a set of at most size samples.
 
bool consider (Grid::Cell *cell, Motion *motion, double distance)
 Evaluate whether motion motion, part of cell cell is good enough to be part of the set of samples closest to the goal, given its distance to the goal is distance. If so, add it to the set and return true. Otherwise, return false.
 
bool selectMotion (Motion *&smotion, Grid::Cell *&scell)
 Select the top sample (closest to the goal) and update its position in the set subsequently (pretend the distance to the goal is larger). Returns true if the sample selection is successful.
 
bool canSample () const
 Return true if samples can be selected from this set.
 

Public Attributes

unsigned int maxSize
 Maximum number of samples to maintain.
 
std::set< CloseSamplesamples
 The maintained samples.
 

Detailed Description

Bounded set of good samples.

Definition at line 299 of file KPIECE1.h.


The documentation for this struct was generated from the following files: