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

Attempt to connect to the k nearest neighbors.

Definition at line 120 of file ConnectionStrategy.h.

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

Public Member Functions