SBL planner setup.
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#include <SBLOptions.hpp>
SBL planner setup.
SBLOptions is the value stored in SBLSetup.
SBLOptions is a seperate file so that we can keep SBLSetup as abstract as possible.
SBLOptions is used by SBLInternal and is for internal use only.
◆ ConnectFrequency
Policy for how often to connect trees.
Enumerator |
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ConnectAlways | always connect (default)
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ConnectAtReset | connect only at reset.
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◆ NearNodeSelection
Policy for choosing a node in the vicinity of a given node, n.
Enumerator |
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UniformSelect | take a random node.
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UniformFromCell | take a random node within the cell where node n lies.
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NearestFromCell | take the nearest node from the cell where node n lies.
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NearestNode | search for the nearest node (default)
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◆ TreeSelection
Policy for selecting a tree.
Enumerator |
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UniformTree | randomly select one of the two trees (default)
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WeightedTree | choose the tree randomly, but weighted according to the size of the tree.
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SmallestTree | choose the smallest tree.
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LargestTree | choose the largest tree.
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◆ SBLOptions()
Construct a new set of options for the internal algorithms.
- Parameters
-
constraint | [in] a constraint on the valid configurations. |
edgeConstraint | [in] a constraint on the edges between valid configurations. |
expansion | [in] the policy for how to sample new configurations in the vicinity. |
metric | [in] the distance metric for nearest neighbor searching. |
connectRadius | [in] connect trees if the distance to the nearest neighbor is below this threshold. |
The documentation for this class was generated from the following file: