37 #ifndef OMPL_GEOMETRIC_PLANNERS_PRM_CONNECTION_STRATEGY_
38 #define OMPL_GEOMETRIC_PLANNERS_PRM_CONNECTION_STRATEGY_
40 #include "ompl/datastructures/NearestNeighbors.h"
41 #include <boost/function.hpp>
42 #include <boost/shared_ptr.hpp>
43 #include <boost/math/constants/constants.hpp>
55 template <
class Milestone>
94 boost::shared_ptr< NearestNeighbors<Milestone> >
nn_;
125 template <
class Milestone>
129 typedef boost::function<unsigned int()> NumNeighborsFn;
141 const unsigned int d = 1) :
143 kPRMConstant_(boost::math::constants::e<double>() + (boost::math::constants::e<double>()/(double)d))
147 std::vector<Milestone>& operator()(
const Milestone& m)
156 const NumNeighborsFn
n_;
157 const double kPRMConstant_;