Aikido
CRRTConnect-impl.hpp
Go to the documentation of this file.
1 namespace aikido {
2 namespace planner {
3 namespace ompl {
4 
5 //==============================================================================
6 template <template <typename T> class NN>
7 void CRRTConnect::setNearestNeighbors()
8 {
9  mStartTree.reset(new NN<CRRT::Motion*>());
10  mGoalTree.reset(new NN<CRRT::Motion*>());
11 }
12 
13 } // namespace ompl
14 } // namespace planner
15 } // namespace aikido
aikido
Format of serialized trajectory in YAML.
Definition: algorithm.hpp:4
aikido::planner::ompl::CRRT::mStartTree
TreeData mStartTree
A nearest-neighbors datastructure containing the tree of motions.
Definition: CRRT.hpp:162
aikido::planner::ompl::CRRTConnect::setNearestNeighbors
void setNearestNeighbors()
Set a nearest neighbors data structure for both the start and goal trees.
Definition: CRRTConnect-impl.hpp:7
aikido::planner::ompl::CRRTConnect::mGoalTree
TreeData mGoalTree
The goal tree.
Definition: CRRTConnect.hpp:74