Neighborhood Finders

Neighborhood Finders (NF) determine nearest neighbors within a roadmap. More...

Collaboration diagram for Neighborhood Finders:

Classes
class	BruteForceNF< MPTraits >
class	NeighborhoodFinderMethod< MPTraits >

Modules
	Neighborhood Finder Utilities
	External data structures to help neighborhood finding algorithms.

Detailed Description

Neighborhood Finders (NF) determine nearest neighbors within a roadmap.

A Neighborhood Finders (NF) is a key component to most sampling-based motion planning algorithms. Essentially, given an input configuration they return a set of "nearby" configurations. This can be done in an approximate fashion or with an exact computation. These are used in RRTs to find the nearest node, and by PRMs to determine a set of candidate edges for validation. The base method can be found in NeighborhoodFinderMethod.h.