ompl::geometric::KStrategy< Milestone > Class Template Reference

#include <ConnectionStrategy.h>

Inheritance diagram for ompl::geometric::KStrategy< Milestone >:

List of all members.

Public Member Functions
	KStrategy (const unsigned int k, const boost::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 boost::shared_ptr< NearestNeighbors< Milestone > > &nn)
	Set the nearest neighbors datastructure to use.
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.
Protected Attributes
unsigned int	k_
	Maximum number of nearest neighbors to attempt to connect new milestones to.
boost::shared_ptr < NearestNeighbors< Milestone > >	nn_
	Nearest neighbors data structure.
std::vector< Milestone >	neighbors_
	Scratch space for storing k-nearest neighbors.

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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.

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

• src/ompl/geometric/planners/prm/ConnectionStrategy.h