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ConnectionStrategy.h
Abstract representation of a container that can perform nearest neighbors queries.
Definition NearestNeighbors.h:48
Return at most k neighbors, as long as they are also within a specified bound.
Definition ConnectionStrategy.h:162
const double bound_
The maximum distance at which nearby milestones are reported.
Definition ConnectionStrategy.h:195
KBoundedStrategy(const unsigned int k, const double bound, const std::shared_ptr< NearestNeighbors< Milestone > > &nn)
Constructor.
Definition ConnectionStrategy.h:171
Make the minimal number of connections required to ensure asymptotic optimality.
Definition ConnectionStrategy.h:125
KStarStrategy(const NumNeighborsFn &n, const std::shared_ptr< NearestNeighbors< Milestone > > &nn, const unsigned int d=1)
Constructor.
Definition ConnectionStrategy.h:137
const NumNeighborsFn n_
Function returning the number of milestones added to the roadmap so far.
Definition ConnectionStrategy.h:153
void setNearestNeighbors(const std::shared_ptr< NearestNeighbors< Milestone > > &nn)
Set the nearest neighbors datastructure to use.
Definition ConnectionStrategy.h:69
std::shared_ptr< NearestNeighbors< Milestone > > nn_
Nearest neighbors data structure.
Definition ConnectionStrategy.h:92
const std::vector< Milestone > & operator()(const Milestone &m)
Given a milestone m, find the number of nearest neighbors connection attempts that should be made fro...
Definition ConnectionStrategy.h:77
unsigned int k_
Maximum number of nearest neighbors to attempt to connect new milestones to.
Definition ConnectionStrategy.h:89
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 dat...
Definition ConnectionStrategy.h:61
std::vector< Milestone > neighbors_
Scratch space for storing k-nearest neighbors.
Definition ConnectionStrategy.h:95
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66
STL namespace.