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<title>OMPL: ompl::geometric::KStrategy< Milestone > Class Template Reference</title>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">ompl::geometric::KStrategy< Milestone > Class Template Reference</div> </div>
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<!-- doxytag: class="ompl::geometric::KStrategy" -->
<p><code>#include <<a class="el" href="ConnectionStrategy_8h_source.html">ConnectionStrategy.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::geometric::KStrategy< Milestone >:</div>
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<div class="center"><img src="classompl_1_1geometric_1_1KStrategy__inherit__graph.png" border="0" usemap="#ompl_1_1geometric_1_1KStrategy_3_01Milestone_01_4_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1geometric_1_1KStrategy_3_01Milestone_01_4_inherit__map" id="ompl_1_1geometric_1_1KStrategy_3_01Milestone_01_4_inherit__map">
<area shape="rect" id="node3" href="classompl_1_1geometric_1_1KStarStrategy.html" title="Make the minimal number of connections required to ensure asymptotic optimality." alt="" coords="5,83,291,112"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1geometric_1_1KStrategy-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="a67c436891ba2b3cf8b0c4f83cb8eb5f5"></a><!-- doxytag: member="ompl::geometric::KStrategy::KStrategy" ref="a67c436891ba2b3cf8b0c4f83cb8eb5f5" args="(const unsigned int k, const boost::shared_ptr< NearestNeighbors< Milestone > > &nn)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1KStrategy.html#a67c436891ba2b3cf8b0c4f83cb8eb5f5">KStrategy</a> (const unsigned int k, const boost::shared_ptr< <a class="el" href="classompl_1_1NearestNeighbors.html">NearestNeighbors</a>< Milestone > > &nn)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor takes the maximum number of nearest neighbors to return (<em>k</em>) and the nearest neighbors datastruture to use (<em>nn</em>) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4c3d13ce9a58ee58d7b4502866783b42"></a><!-- doxytag: member="ompl::geometric::KStrategy::setNearestNeighbors" ref="a4c3d13ce9a58ee58d7b4502866783b42" args="(const boost::shared_ptr< NearestNeighbors< Milestone > > &nn)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1KStrategy.html#a4c3d13ce9a58ee58d7b4502866783b42">setNearestNeighbors</a> (const boost::shared_ptr< <a class="el" href="classompl_1_1NearestNeighbors.html">NearestNeighbors</a>< Milestone > > &nn)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the nearest neighbors datastructure to use. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af5813981b8c79885fa86ceacaabd38ba"></a><!-- doxytag: member="ompl::geometric::KStrategy::operator()" ref="af5813981b8c79885fa86ceacaabd38ba" args="(const Milestone &m)" -->
std::vector< Milestone > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1KStrategy.html#af5813981b8c79885fa86ceacaabd38ba">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="aa9592c00a8daa71d247077553052e48d"></a><!-- doxytag: member="ompl::geometric::KStrategy::k_" ref="aa9592c00a8daa71d247077553052e48d" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1KStrategy.html#aa9592c00a8daa71d247077553052e48d">k_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum number of nearest neighbors to attempt to connect new milestones to. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a50bbca24d4d890b9a3e62538ed48c6c9"></a><!-- doxytag: member="ompl::geometric::KStrategy::nn_" ref="a50bbca24d4d890b9a3e62538ed48c6c9" args="" -->
boost::shared_ptr<br class="typebreak"/>
< <a class="el" href="classompl_1_1NearestNeighbors.html">NearestNeighbors</a>< Milestone > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1KStrategy.html#a50bbca24d4d890b9a3e62538ed48c6c9">nn_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Nearest neighbors data structure. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae087877ca61f5f8822cf0d702fd581e6"></a><!-- doxytag: member="ompl::geometric::KStrategy::neighbors_" ref="ae087877ca61f5f8822cf0d702fd581e6" args="" -->
std::vector< Milestone > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1KStrategy.html#ae087877ca61f5f8822cf0d702fd581e6">neighbors_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scratch space for storing k-nearest neighbors. <br/></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::KStrategy< Milestone ></h3>
<p>Attempt to connect to the k nearest neighbors. </p>
<p>Definition at line <a class="el" href="ConnectionStrategy_8h_source.html#l00056">56</a> of file <a class="el" href="ConnectionStrategy_8h_source.html">ConnectionStrategy.h</a>.</p>
</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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