Struct KPIECE1::CloseSamples

Nested Relationships

This struct is a nested type of Class KPIECE1.

Struct Documentation

struct CloseSamples

Bounded set of good samples.

Public Functions

inline 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.

inline bool canSample() const

Return true if samples can be selected from this set.

Public Members

unsigned int maxSize

Maximum number of samples to maintain.

std::set<CloseSample> samples

The maintained samples.