Bounded set of good samples. More...
#include <KPIECE1.h>
Public Member Functions | |
| bool | canSample (void) const |
| Return true if samples can be selected from this set. | |
| CloseSamples (unsigned int size) | |
| Construct an object to maintain a set of at most size samples. | |
| bool | consider (Grid::Cell *cell, Motion *motion, double distance) |
| Evaluate whether motion motion, part of cell cell is good enough to be part of the set of samples closest to the goal, given its distance to the goal is distance. If so, add it to the set and return true. Otherwise, return false. | |
| bool | selectMotion (Motion *&smotion, Grid::Cell *&scell) |
| 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. | |
Public Attributes | |
| unsigned int | maxSize |
| Maximum number of samples to maintain. | |
| std::set< CloseSample > | samples |
| The maintained samples. | |
Bounded set of good samples.
Definition at line 259 of file control/planners/kpiece/KPIECE1.h.
| ompl::control::KPIECE1::CloseSamples::CloseSamples | ( | unsigned int | size | ) | [inline] |
Construct an object to maintain a set of at most size samples.
Definition at line 262 of file control/planners/kpiece/KPIECE1.h.
| bool ompl::control::KPIECE1::CloseSamples::canSample | ( | void | ) | const [inline] |
Return true if samples can be selected from this set.
Definition at line 281 of file control/planners/kpiece/KPIECE1.h.
| bool ompl::control::KPIECE1::CloseSamples::consider | ( | Grid::Cell * | cell, | |
| Motion * | motion, | |||
| double | distance | |||
| ) |
Evaluate whether motion motion, part of cell cell is good enough to be part of the set of samples closest to the goal, given its distance to the goal is distance. If so, add it to the set and return true. Otherwise, return false.
| bool ompl::control::KPIECE1::CloseSamples::selectMotion | ( | Motion *& | smotion, | |
| Grid::Cell *& | scell | |||
| ) |
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.
| unsigned int ompl::control::KPIECE1::CloseSamples::maxSize |
Maximum number of samples to maintain.
Definition at line 287 of file control/planners/kpiece/KPIECE1.h.
The maintained samples.
Definition at line 290 of file control/planners/kpiece/KPIECE1.h.
