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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 56 of file ConnectionStrategy.h.

Constructor & Destructor Documentation

◆ KStrategy()

template<class Milestone>
ompl::geometric::KStrategy< Milestone >::KStrategy ( const unsigned int k,
std::shared_ptr< NearestNeighbors< Milestone > > nn )
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()

template<class Milestone>
unsigned int ompl::geometric::KStrategy< Milestone >::getNumNeighbors ( ) const
inline

Definition at line 83 of file ConnectionStrategy.h.

◆ operator()()

template<class Milestone>
const std::vector< Milestone > & ompl::geometric::KStrategy< Milestone >::operator() ( const Milestone & m)
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()

template<class Milestone>
void ompl::geometric::KStrategy< Milestone >::setNearestNeighbors ( const std::shared_ptr< NearestNeighbors< Milestone > > & nn)
inline

Set the nearest neighbors datastructure to use.

Definition at line 69 of file ConnectionStrategy.h.

Member Data Documentation

◆ k_

template<class Milestone>
unsigned int ompl::geometric::KStrategy< Milestone >::k_
protected

Maximum number of nearest neighbors to attempt to connect new milestones to.

Definition at line 89 of file ConnectionStrategy.h.

◆ neighbors_

template<class Milestone>
std::vector<Milestone> ompl::geometric::KStrategy< Milestone >::neighbors_
protected

Scratch space for storing k-nearest neighbors.

Definition at line 95 of file ConnectionStrategy.h.

◆ nn_

template<class Milestone>
std::shared_ptr<NearestNeighbors<Milestone> > ompl::geometric::KStrategy< Milestone >::nn_
protected

Nearest neighbors data structure.

Definition at line 92 of file ConnectionStrategy.h.


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