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

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
class ompl::geometric::KStrategy< Milestone >
Attempt to connect to the k nearest neighbors.
Definition at line 56 of file ConnectionStrategy.h.
Constructor & Destructor Documentation
◆ KStrategy()
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inline |
Constructor takes the maximum number of nearest neighbors to return (k) and the nearest neighbors datastruture to use (nn)
Definition at line 61 of file ConnectionStrategy.h.
Member Function Documentation
◆ getNumNeighbors()
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inline |
Definition at line 83 of file ConnectionStrategy.h.
◆ operator()()
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inline |
Given a milestone m, find the number of nearest neighbors connection attempts that should be made from it, according to the connection strategy.
Definition at line 77 of file ConnectionStrategy.h.
◆ setNearestNeighbors()
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inline |
Set the nearest neighbors datastructure to use.
Definition at line 69 of file ConnectionStrategy.h.
Member Data Documentation
◆ k_
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protected |
Maximum number of nearest neighbors to attempt to connect new milestones to.
Definition at line 89 of file ConnectionStrategy.h.
◆ neighbors_
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protected |
Scratch space for storing k-nearest neighbors.
Definition at line 95 of file ConnectionStrategy.h.
◆ nn_
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protected |
Nearest neighbors data structure.
Definition at line 92 of file ConnectionStrategy.h.
The documentation for this class was generated from the following file:
- ompl/geometric/planners/prm/ConnectionStrategy.h