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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">ompl::geometric::KStarStrategy< Milestone > Class Template Reference</div> </div>
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<!-- doxytag: class="ompl::geometric::KStarStrategy" --><!-- doxytag: inherits="ompl::geometric::KStrategy" -->
<p>Make the minimal number of connections required to ensure asymptotic optimality.
<a href="classompl_1_1geometric_1_1KStarStrategy.html#details">More...</a></p>
<p><code>#include <<a class="el" href="ConnectionStrategy_8h_source.html">ConnectionStrategy.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::geometric::KStarStrategy< Milestone >:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1geometric_1_1KStarStrategy__inherit__graph.png" border="0" usemap="#ompl_1_1geometric_1_1KStarStrategy_3_01Milestone_01_4_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1geometric_1_1KStarStrategy_3_01Milestone_01_4_inherit__map" id="ompl_1_1geometric_1_1KStarStrategy_3_01Milestone_01_4_inherit__map">
<area shape="rect" id="node2" href="classompl_1_1geometric_1_1KStrategy.html" title="ompl::geometric::KStrategy\< Milestone \>" alt="" coords="17,5,279,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1geometric_1_1KStarStrategy-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"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1KStarStrategy.html#adc2852f930022938255d7d32d985e841">KStarStrategy</a> (const boost::function0< unsigned int > &n, const boost::shared_ptr< <a class="el" href="classompl_1_1NearestNeighbors.html">NearestNeighbors</a>< Milestone > > &nn, const unsigned int d=1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#adc2852f930022938255d7d32d985e841"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7fbc135288c491912eda4b6761a4011b"></a><!-- doxytag: member="ompl::geometric::KStarStrategy::operator()" ref="a7fbc135288c491912eda4b6761a4011b" args="(const Milestone &m)" -->
std::vector< Milestone > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1KStarStrategy.html#a7fbc135288c491912eda4b6761a4011b">operator()</a> (const Milestone &m)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Given a milestone <em>m</em>, find the number of nearest neighbors connection attempts that should be made from it, according to the connection strategy. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae760d7552b878c0a553ae62723e2f731"></a><!-- doxytag: member="ompl::geometric::KStarStrategy::n_" ref="ae760d7552b878c0a553ae62723e2f731" args="" -->
const boost::function0<br class="typebreak"/>
< unsigned int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1KStarStrategy.html#ae760d7552b878c0a553ae62723e2f731">n_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Function returning the number of milestones added to the roadmap so far. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1d691a6307f4efb9586fa85af739e0e9"></a><!-- doxytag: member="ompl::geometric::KStarStrategy::kPRMConstant_" ref="a1d691a6307f4efb9586fa85af739e0e9" args="" -->
const double </td><td class="memItemRight" valign="bottom"><b>kPRMConstant_</b></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><h3>template<class Milestone><br/>
class ompl::geometric::KStarStrategy< Milestone ></h3>
<p>Make the minimal number of connections required to ensure asymptotic optimality. </p>
<p>This connection strategy attempts to connect a milestone to its k-nearest neighbors where k is a function of the number of milestones that have already been added to the roadmap (n).</p>
<p>k(n) = kPRMConstant * log(n)</p>
<p>where</p>
<p>kPRMConstant > kStarPRMConstant = e(1 + 1/d)</p>
<p>and d is the number of dimensions in the state space. Note that kPRMConstant = 2e is a valid choice for any problem instance and so, if d is not provided, this value is used.</p>
<p>The user must provide a function that returns the value of n.</p>
<dl class="user"><dt><b>External documentation</b></dt><dd>S. Karaman and E. Frazzoli Sampling-based algorithms for optimal motion planning, <em>Int. Journal of Robotics Research</em> Volume 30, Number 7, June 2010 </dd></dl>
<p>Definition at line <a class="el" href="ConnectionStrategy_8h_source.html#l00126">126</a> of file <a class="el" href="ConnectionStrategy_8h_source.html">ConnectionStrategy.h</a>.</p>
</div><hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="adc2852f930022938255d7d32d985e841"></a><!-- doxytag: member="ompl::geometric::KStarStrategy::KStarStrategy" ref="adc2852f930022938255d7d32d985e841" args="(const boost::function0< unsigned int > &n, const boost::shared_ptr< NearestNeighbors< Milestone > > &nn, const unsigned int d=1)" -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<class Milestone> </div>
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classompl_1_1geometric_1_1KStarStrategy.html">ompl::geometric::KStarStrategy</a>< Milestone >::<a class="el" href="classompl_1_1geometric_1_1KStarStrategy.html">KStarStrategy</a> </td>
<td>(</td>
<td class="paramtype">const boost::function0< unsigned int > & </td>
<td class="paramname"><em>n</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const boost::shared_ptr< <a class="el" href="classompl_1_1NearestNeighbors.html">NearestNeighbors</a>< Milestone > > & </td>
<td class="paramname"><em>nn</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>d</em> = <code>1</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Constructor. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">n</td><td>a function that returns the number of milestones that have already been added to the roadmap </td></tr>
<tr><td class="paramname">nn</td><td>the nearest neighbors datastruture to use </td></tr>
<tr><td class="paramname">d</td><td>the dimensionality of the state space. The default is 1, which will make kPRMConstant=2e which is valid for all problem instances. </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="ConnectionStrategy_8h_source.html#l00139">139</a> of file <a class="el" href="ConnectionStrategy_8h_source.html">ConnectionStrategy.h</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>src/ompl/geometric/planners/prm/<a class="el" href="ConnectionStrategy_8h_source.html">ConnectionStrategy.h</a></li>
</ul>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
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