ConnectionStrategy.h
61 KStrategy(const unsigned int k, std::shared_ptr<NearestNeighbors<Milestone>> nn) : k_(k), nn_(std::move(nn))
141 , kPRMConstant_(boost::math::constants::e<double>() + (boost::math::constants::e<double>() / (double)d))
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
KBoundedStrategy(const unsigned int k, const double bound, const std::shared_ptr< NearestNeighbors< Milestone >> &nn)
Constructor.
Definition: ConnectionStrategy.h:171
const double bound_
The maximum distance at which nearby milestones are reported.
Definition: ConnectionStrategy.h:195
Make the minimal number of connections required to ensure asymptotic optimality.
Definition: ConnectionStrategy.h:125
const NumNeighborsFn n_
Function returning the number of milestones added to the roadmap so far.
Definition: ConnectionStrategy.h:153
KStarStrategy(const NumNeighborsFn &n, const std::shared_ptr< NearestNeighbors< Milestone >> &nn, const unsigned int d=1)
Constructor.
Definition: ConnectionStrategy.h:137
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::shared_ptr< NearestNeighbors< Milestone > > nn_
Nearest neighbors data structure.
Definition: ConnectionStrategy.h:92
unsigned int k_
Maximum number of nearest neighbors to attempt to connect new milestones to.
Definition: ConnectionStrategy.h:89
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
std::vector< Milestone > neighbors_
Scratch space for storing k-nearest neighbors.
Definition: ConnectionStrategy.h:95
void setNearestNeighbors(const std::shared_ptr< NearestNeighbors< Milestone >> &nn)
Set the nearest neighbors datastructure to use.
Definition: ConnectionStrategy.h:69
void log(const char *file, int line, LogLevel level, const char *m,...)
Root level logging function. This should not be invoked directly, but rather used via a logging macro...
Definition: Console.cpp:120
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:53