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< CloseSample > | samples |
| The maintained samples. | |
Detailed Description
The documentation for this struct was generated from the following files:
- ompl/control/planners/kpiece/KPIECE1.h
- ompl/control/planners/kpiece/src/KPIECE1.cpp