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 120 of file ConnectionStrategy.h.

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