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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2011, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: James D. Marble */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#ifndef OMPL_GEOMETRIC_PLANNERS_PRM_CONNECTION_STRATEGY_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_PRM_CONNECTION_STRATEGY_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "ompl/datastructures/NearestNeighbors.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <functional></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <memory></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <boost/math/constants/constants.hpp></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <algorithm></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include <utility></span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include <vector></span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> {</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">namespace </span>geometric</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  {</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">template</span> <<span class="keyword">class</span> Milestone></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keyword">class </span>KStrategy</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  {</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a544421871709d8e6c37cc038accf511f">KStrategy</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k, std::shared_ptr<NearestNeighbors<Milestone>> nn) : <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#aa9592c00a8daa71d247077553052e48d">k_</a>(k), <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a595d0f37437f9726b2b788711dfc1e5a">nn_</a>(std::move(nn))</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  {</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#ae087877ca61f5f8822cf0d702fd581e6">neighbors_</a>.reserve(<a class="code" href="classompl_1_1geometric_1_1KStrategy.html#aa9592c00a8daa71d247077553052e48d">k_</a>);</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  }</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a544421871709d8e6c37cc038accf511f">KStrategy</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#afbeee96b0cec8e05c0281f87c8a3d9dd">setNearestNeighbors</a>(<span class="keyword">const</span> std::shared_ptr<NearestNeighbors<Milestone>> &nn)</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  {</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a595d0f37437f9726b2b788711dfc1e5a">nn_</a> = nn;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  }</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">const</span> std::vector<Milestone> &<a class="code" href="classompl_1_1geometric_1_1KStrategy.html#ad0f6f3289047f520643ff557628b0d3b">operator()</a>(<span class="keyword">const</span> Milestone &m)</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  {</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a595d0f37437f9726b2b788711dfc1e5a">nn_</a>->nearestK(m, <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#aa9592c00a8daa71d247077553052e48d">k_</a>, <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#ae087877ca61f5f8822cf0d702fd581e6">neighbors_</a>);</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#ae087877ca61f5f8822cf0d702fd581e6">neighbors_</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  }</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getNumNeighbors()<span class="keyword"> const</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#aa9592c00a8daa71d247077553052e48d">k_</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  }</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#aa9592c00a8daa71d247077553052e48d">k_</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  std::shared_ptr<NearestNeighbors<Milestone>> <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a595d0f37437f9726b2b788711dfc1e5a">nn_</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  std::vector<Milestone> <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#ae087877ca61f5f8822cf0d702fd581e6">neighbors_</a>;</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  };</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keyword">template</span> <<span class="keyword">class</span> Milestone></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keyword">class </span>KStarStrategy : <span class="keyword">public</span> KStrategy<Milestone></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  {</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keyword">using</span> NumNeighborsFn = std::function<<span class="keywordtype">unsigned</span> int()>;</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <a class="code" href="classompl_1_1geometric_1_1KStarStrategy.html#a5e807ea21a7e9b3d9fbf07661826bb1a">KStarStrategy</a>(<span class="keyword">const</span> NumNeighborsFn &n, <span class="keyword">const</span> std::shared_ptr<NearestNeighbors<Milestone>> &nn,</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> d = 1)</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  : <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a544421871709d8e6c37cc038accf511f">KStrategy</a><Milestone>(n(), nn)</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  , <a class="code" href="classompl_1_1geometric_1_1KStarStrategy.html#a575ab299a1f4c23a2e3c42ae3a587634">n_</a>(n)</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  , kPRMConstant_(boost::math::constants::e<double>() + (boost::math::constants::e<double>() / (double)d))</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  {</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  }</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keyword">const</span> std::vector<Milestone> &operator()(<span class="keyword">const</span> Milestone &m)</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  {</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#aa9592c00a8daa71d247077553052e48d">KStrategy<Milestone>::k_</a> = <span class="keyword">static_cast<</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">></span>(ceil(kPRMConstant_ * <a class="code" href="namespaceompl_1_1msg.html#affe7852f27c06f98af7eb2579f1e5350">log</a>((<span class="keywordtype">double</span>)<a class="code" href="classompl_1_1geometric_1_1KStarStrategy.html#a575ab299a1f4c23a2e3c42ae3a587634">n_</a>())));</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keywordflow">return</span> <span class="keyword">static_cast<</span>KStrategy<Milestone> &<span class="keyword">></span>(*this)(m);</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  }</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  </div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keyword">const</span> NumNeighborsFn <a class="code" href="classompl_1_1geometric_1_1KStarStrategy.html#a575ab299a1f4c23a2e3c42ae3a587634">n_</a>;</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> kPRMConstant_;</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  };</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keyword">template</span> <<span class="keyword">class</span> Milestone></div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keyword">class </span>KBoundedStrategy : <span class="keyword">public</span> KStrategy<Milestone></div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  {</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="classompl_1_1geometric_1_1KBoundedStrategy.html#a65b4a003542ae6221a1a1c9b0d93a0f1">KBoundedStrategy</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k, <span class="keyword">const</span> <span class="keywordtype">double</span> bound,</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keyword">const</span> std::shared_ptr<NearestNeighbors<Milestone>> &nn)</div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1KStrategy.html#ad0f6f3289047f520643ff557628b0d3b"> 173</a></span>  : <a class="code" href="classompl_1_1geometric_1_1KStrategy.html">KStrategy</a><Milestone>(k, nn), <a class="code" href="classompl_1_1geometric_1_1KBoundedStrategy.html#a8417c2d35fa2f74ce103623888815110">bound_</a>(bound)</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  {</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  }</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  </div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keyword">const</span> <span class="keyword">auto</span> &operator()(<span class="keyword">const</span> Milestone &m)</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  {</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keyword">auto</span> &result = <a class="code" href="classompl_1_1geometric_1_1KStrategy.html">KStrategy<Milestone>::neighbors_</a>;</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <a class="code" href="classompl_1_1geometric_1_1KStrategy.html">KStrategy<Milestone>::nn_</a>->nearestK(m, <a class="code" href="classompl_1_1geometric_1_1KStrategy.html">KStrategy<Milestone>::k_</a>, result);</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordflow">if</span> (result.empty())</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keyword">const</span> <span class="keyword">auto</span> &dist = <a class="code" href="classompl_1_1geometric_1_1KStrategy.html">KStrategy<Milestone>::nn_</a>->getDistanceFunction();</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1geometric_1_1KStrategy.html">KStrategy<Milestone>::nn_</a>->reportsSortedResults())</div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1KStrategy.html#aa9592c00a8daa71d247077553052e48d"> 185</a></span>  std::sort(result.begin(), result.end(), dist);</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keyword">auto</span> newCount = result.size();</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordflow">while</span> (newCount > 0 && dist(result[newCount - 1], m) > <a class="code" href="classompl_1_1geometric_1_1KBoundedStrategy.html#a8417c2d35fa2f74ce103623888815110">bound_</a>)</div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1KStrategy.html#a595d0f37437f9726b2b788711dfc1e5a"> 188</a></span>  --newCount;</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  result.resize(newCount);</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1KStrategy.html#ae087877ca61f5f8822cf0d702fd581e6"> 191</a></span>  }</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  </div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1KBoundedStrategy.html#a8417c2d35fa2f74ce103623888815110">bound_</a>;</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  };</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  }</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> }</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1geometric_1_1KStrategy_html_ad0f6f3289047f520643ff557628b0d3b"><div class="ttname"><a href="classompl_1_1geometric_1_1KStrategy.html#ad0f6f3289047f520643ff557628b0d3b">ompl::geometric::KStrategy::operator()</a></div><div class="ttdeci">const std::vector< Milestone > & operator()(const Milestone &m)</div><div class="ttdoc">Given a milestone m, find the number of nearest neighbors connection attempts that should be made fro...</div><div class="ttdef"><b>Definition:</b> <a href="ConnectionStrategy_8h_source.html#l00173">ConnectionStrategy.h:173</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1KStarStrategy_html_a575ab299a1f4c23a2e3c42ae3a587634"><div class="ttname"><a href="classompl_1_1geometric_1_1KStarStrategy.html#a575ab299a1f4c23a2e3c42ae3a587634">ompl::geometric::KStarStrategy::n_</a></div><div class="ttdeci">const NumNeighborsFn n_</div><div class="ttdoc">Function returning the number of milestones added to the roadmap so far.</div><div class="ttdef"><b>Definition:</b> <a href="ConnectionStrategy_8h_source.html#l00217">ConnectionStrategy.h:217</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1KStrategy_html_aa9592c00a8daa71d247077553052e48d"><div class="ttname"><a href="classompl_1_1geometric_1_1KStrategy.html#aa9592c00a8daa71d247077553052e48d">ompl::geometric::KStrategy::k_</a></div><div class="ttdeci">unsigned int k_</div><div class="ttdoc">Maximum number of nearest neighbors to attempt to connect new milestones to.</div><div class="ttdef"><b>Definition:</b> <a href="ConnectionStrategy_8h_source.html#l00185">ConnectionStrategy.h:185</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1KStrategy_html_afbeee96b0cec8e05c0281f87c8a3d9dd"><div class="ttname"><a href="classompl_1_1geometric_1_1KStrategy.html#afbeee96b0cec8e05c0281f87c8a3d9dd">ompl::geometric::KStrategy::setNearestNeighbors</a></div><div class="ttdeci">void setNearestNeighbors(const std::shared_ptr< NearestNeighbors< Milestone >> &nn)</div><div class="ttdoc">Set the nearest neighbors datastructure to use.</div><div class="ttdef"><b>Definition:</b> <a href="ConnectionStrategy_8h_source.html#l00165">ConnectionStrategy.h:165</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1KStrategy_html_a544421871709d8e6c37cc038accf511f"><div class="ttname"><a href="classompl_1_1geometric_1_1KStrategy.html#a544421871709d8e6c37cc038accf511f">ompl::geometric::KStrategy::KStrategy</a></div><div class="ttdeci">KStrategy(const unsigned int k, std::shared_ptr< NearestNeighbors< Milestone >> nn)</div><div class="ttdoc">Constructor takes the maximum number of nearest neighbors to return (k) and the nearest neighbors dat...</div><div class="ttdef"><b>Definition:</b> <a href="ConnectionStrategy_8h_source.html#l00157">ConnectionStrategy.h:157</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_affe7852f27c06f98af7eb2579f1e5350"><div class="ttname"><a href="namespaceompl_1_1msg.html#affe7852f27c06f98af7eb2579f1e5350">ompl::msg::log</a></div><div class="ttdeci">void log(const char *file, int line, LogLevel level, const char *m,...)</div><div class="ttdoc">Root level logging function. This should not be invoked directly, but rather used via a logging macro...</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00120">Console.cpp:120</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1KStrategy_html_a595d0f37437f9726b2b788711dfc1e5a"><div class="ttname"><a href="classompl_1_1geometric_1_1KStrategy.html#a595d0f37437f9726b2b788711dfc1e5a">ompl::geometric::KStrategy::nn_</a></div><div class="ttdeci">std::shared_ptr< NearestNeighbors< Milestone > > nn_</div><div class="ttdoc">Nearest neighbors data structure.</div><div class="ttdef"><b>Definition:</b> <a href="ConnectionStrategy_8h_source.html#l00188">ConnectionStrategy.h:188</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1KBoundedStrategy_html_a8417c2d35fa2f74ce103623888815110"><div class="ttname"><a href="classompl_1_1geometric_1_1KBoundedStrategy.html#a8417c2d35fa2f74ce103623888815110">ompl::geometric::KBoundedStrategy::bound_</a></div><div class="ttdeci">const double bound_</div><div class="ttdoc">The maximum distance at which nearby milestones are reported.</div><div class="ttdef"><b>Definition:</b> <a href="ConnectionStrategy_8h_source.html#l00259">ConnectionStrategy.h:259</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1KStrategy_html_ae087877ca61f5f8822cf0d702fd581e6"><div class="ttname"><a href="classompl_1_1geometric_1_1KStrategy.html#ae087877ca61f5f8822cf0d702fd581e6">ompl::geometric::KStrategy::neighbors_</a></div><div class="ttdeci">std::vector< Milestone > neighbors_</div><div class="ttdoc">Scratch space for storing k-nearest neighbors.</div><div class="ttdef"><b>Definition:</b> <a href="ConnectionStrategy_8h_source.html#l00191">ConnectionStrategy.h:191</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1KStrategy_html"><div class="ttname"><a href="classompl_1_1geometric_1_1KStrategy.html">ompl::geometric::KStrategy</a></div><div class="ttdef"><b>Definition:</b> <a href="ConnectionStrategy_8h_source.html#l00120">ConnectionStrategy.h:120</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1KBoundedStrategy_html_a65b4a003542ae6221a1a1c9b0d93a0f1"><div class="ttname"><a href="classompl_1_1geometric_1_1KBoundedStrategy.html#a65b4a003542ae6221a1a1c9b0d93a0f1">ompl::geometric::KBoundedStrategy::KBoundedStrategy</a></div><div class="ttdeci">KBoundedStrategy(const unsigned int k, const double bound, const std::shared_ptr< NearestNeighbors< Milestone >> &nn)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="ConnectionStrategy_8h_source.html#l00235">ConnectionStrategy.h:235</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1KStarStrategy_html_a5e807ea21a7e9b3d9fbf07661826bb1a"><div class="ttname"><a href="classompl_1_1geometric_1_1KStarStrategy.html#a5e807ea21a7e9b3d9fbf07661826bb1a">ompl::geometric::KStarStrategy::KStarStrategy</a></div><div class="ttdeci">KStarStrategy(const NumNeighborsFn &n, const std::shared_ptr< NearestNeighbors< Milestone >> &nn, const unsigned int d=1)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="ConnectionStrategy_8h_source.html#l00201">ConnectionStrategy.h:201</a></div></div>
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