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<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-attribs">Public Attributes</a> </div>
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<div class="title">ompl::control::KPIECE1::CloseSamples Struct Reference</div> </div>
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<!-- doxytag: class="ompl::control::KPIECE1::CloseSamples" -->
<p>Bounded set of good samples.
<a href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#details">More...</a></p>
<p><code>#include <<a class="el" href="control_2planners_2kpiece_2KPIECE1_8h_source.html">KPIECE1.h</a>></code></p>
<p><a href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a00b4a458d197bcfe828f77e8fecda9f5"></a><!-- doxytag: member="ompl::control::KPIECE1::CloseSamples::CloseSamples" ref="a00b4a458d197bcfe828f77e8fecda9f5" args="(unsigned int size)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#a00b4a458d197bcfe828f77e8fecda9f5">CloseSamples</a> (unsigned int size)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Construct an object to maintain a set of at most <em>size</em> samples. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a66405fda7ce9ca4c06eb1f9e12b5589b"></a><!-- doxytag: member="ompl::control::KPIECE1::CloseSamples::consider" ref="a66405fda7ce9ca4c06eb1f9e12b5589b" args="(Grid::Cell *cell, Motion *motion, double distance)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#a66405fda7ce9ca4c06eb1f9e12b5589b">consider</a> (<a class="el" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3">Grid::Cell</a> *cell, <a class="el" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html">Motion</a> *motion, double distance)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluate whether motion <em>motion</em>, part of cell <em>cell</em> is good enough to be part of the set of samples closest to the goal, given its distance to the goal is <em>distance</em>. If so, add it to the set and return true. Otherwise, return false. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9b909ea64b900cf5ee3dea7aece7ecde"></a><!-- doxytag: member="ompl::control::KPIECE1::CloseSamples::selectMotion" ref="a9b909ea64b900cf5ee3dea7aece7ecde" args="(Motion *&smotion, Grid::Cell *&scell)" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#a9b909ea64b900cf5ee3dea7aece7ecde">selectMotion</a> (<a class="el" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html">Motion</a> *&smotion, <a class="el" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3">Grid::Cell</a> *&scell)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac5b1825c72167c9007d5d36246a4c7c3"></a><!-- doxytag: member="ompl::control::KPIECE1::CloseSamples::canSample" ref="ac5b1825c72167c9007d5d36246a4c7c3" args="(void) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#ac5b1825c72167c9007d5d36246a4c7c3">canSample</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return true if samples can be selected from this set. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3114c01101069dcddc15aff3d62d344e"></a><!-- doxytag: member="ompl::control::KPIECE1::CloseSamples::maxSize" ref="a3114c01101069dcddc15aff3d62d344e" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#a3114c01101069dcddc15aff3d62d344e">maxSize</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum number of samples to maintain. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab7c97105a696566d4ed22bf429eadffa"></a><!-- doxytag: member="ompl::control::KPIECE1::CloseSamples::samples" ref="ab7c97105a696566d4ed22bf429eadffa" args="" -->
std::set< <a class="el" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html">CloseSample</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#ab7c97105a696566d4ed22bf429eadffa">samples</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The maintained samples. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Bounded set of good samples. </p>
<p>Definition at line <a class="el" href="control_2planners_2kpiece_2KPIECE1_8h_source.html#l00296">296</a> of file <a class="el" href="control_2planners_2kpiece_2KPIECE1_8h_source.html">KPIECE1.h</a>.</p>
</div><hr/>The documentation for this struct was generated from the following files:<ul>
<li>src/ompl/control/planners/kpiece/<a class="el" href="control_2planners_2kpiece_2KPIECE1_8h_source.html">KPIECE1.h</a></li>
<li>src/ompl/control/planners/kpiece/src/<a class="el" href="control_2planners_2kpiece_2src_2KPIECE1_8cpp_source.html">KPIECE1.cpp</a></li>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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