batching_pomp::cspacebelief::KNNModel Class Reference

Derived class of Model that uses kNN to represent the C-space belief. More...

#include <KNNModel.hpp>

Inherits batching_pomp::cspacebelief::Model< BeliefPoint >.

Public Member Functions
	KNNModel (size_t _KNN, double _prior, double _priorWeight, const std::function< double(const BeliefPoint &, const BeliefPoint &)> &_distanceFunction)
void	setPrior (double _prior)
void	setPriorWeight (double _priorWeight)
void	setKNN (size_t _knn)
void	addPoint (const BeliefPoint &data) override
void	removePoint (const BeliefPoint &data) override
double	estimate (const BeliefPoint &query) const override

Detailed Description

Derived class of Model that uses kNN to represent the C-space belief.

Implements a C-Space Belief Model using k-Nearest Neighbour lookup and weighted averaging over the results of neighbouring belief points. The weights are inversely proportional to the distance between the queried point and the neighbouring belief points.

Constructor & Destructor Documentation

KNNModel()

batching_pomp::cspacebelief::KNNModel::KNNModel ( size_t  _KNN, double  _prior, double  _priorWeight, const std::function< double(const BeliefPoint &, const BeliefPoint &)> &  _distanceFunction  )

inline

Parameters

[in]	_KNN	The value of k for KNN lookup
[in]	_distanceFunction	The ompl::NearestNeighbours::Distance Function to set

Member Function Documentation

addPoint()

void batching_pomp::cspacebelief::KNNModel::addPoint ( const BeliefPoint &  data )

inlineoverridevirtual

Add a data point to the belief manager.

Parameters

[in]

data

The datapoint to add to the belief manager.

Implements batching_pomp::cspacebelief::Model< BeliefPoint >.

estimate()

double batching_pomp::cspacebelief::KNNModel::estimate ( const BeliefPoint &  query ) const

inlineoverridevirtual

Estimate the configuration space belief of the query

Parameters

[in]

query

The datapoint for which the probability of collision is estimated.

Returns

The probability of collision of query in (0,1)

Implements batching_pomp::cspacebelief::Model< BeliefPoint >.

removePoint()

void batching_pomp::cspacebelief::KNNModel::removePoint ( const BeliefPoint &  data )

inlineoverridevirtual

Remove a data point from the belief manager (rarely used)

Parameters

[in]

data

The datapoint to remove from the belief manager.

Implements batching_pomp::cspacebelief::Model< BeliefPoint >.

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The documentation for this class was generated from the following file:

• include/batching_pomp/cspacebelief/KNNModel.hpp