Bounded set of good samples.
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#include <ompl/control/planners/kpiece/KPIECE1.h>
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| CloseSamples (unsigned int size) |
| Construct an object to maintain a set of at most size samples. More...
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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. More...
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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. More...
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bool | canSample () const |
| Return true if samples can be selected from this set. More...
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Bounded set of good samples.
Definition at line 295 of file KPIECE1.h.
◆ CloseSamples()
ompl::control::KPIECE1::CloseSamples::CloseSamples |
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unsigned int |
size | ) |
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inline |
Construct an object to maintain a set of at most size samples.
Definition at line 298 of file KPIECE1.h.
◆ canSample()
bool ompl::control::KPIECE1::CloseSamples::canSample |
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const |
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inline |
Return true if samples can be selected from this set.
Definition at line 317 of file KPIECE1.h.
◆ consider()
bool ompl::control::KPIECE1::CloseSamples::consider |
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Grid::Cell * |
cell, |
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Motion * |
motion, |
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double |
distance |
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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.
Definition at line 121 of file KPIECE1.cpp.
◆ selectMotion()
bool ompl::control::KPIECE1::CloseSamples::selectMotion |
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Motion *& |
smotion, |
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Grid::Cell *& |
scell |
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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.
Definition at line 150 of file KPIECE1.cpp.
◆ maxSize
unsigned int ompl::control::KPIECE1::CloseSamples::maxSize |
Maximum number of samples to maintain.
Definition at line 323 of file KPIECE1.h.
◆ samples
std::set<CloseSample> ompl::control::KPIECE1::CloseSamples::samples |
The maintained samples.
Definition at line 326 of file KPIECE1.h.
The documentation for this struct was generated from the following files: