15 template <
typename Vertex,
class VState>
18 return space->distance(
get(vstate_map,va),
get(vstate_map,vb));
22 template <
template<
class>
class RoadmapTemplate,
23 class Graph,
class VState,
class EDistance,
class VBatch,
class EBatch,
class VShadow>
24 void generate_from_roadmap(
28 EDistance edistance_map,
32 const std::map<std::string, std::string> & roadmap_params,
35 typedef typename boost::graph_traits<Graph>::vertex_descriptor Vertex;
36 typedef typename boost::graph_traits<Graph>::edge_descriptor Edge;
41 mynn.setDistanceFunction(boost::bind(generate_from_roadmap_dist<Vertex,VState>, space, vstate_map, _1, _2));
49 RoadmapArgs args(space, g, vstate_map, edistance_map, vbatch_map, ebatch_map, vshadow_map, evector_map, &mynn);
52 RoadmapTemplate<RoadmapArgs> roadmap(args);
55 for (std::map<std::string, std::string>::const_iterator
56 it=roadmap_params.begin(); it!=roadmap_params.end(); it++)
58 roadmap.params.setParam(it->first, it->second);
65 for (
size_t ibatch=0; ibatch<num_batches; ibatch++)
Definition: NearestNeighborsLinearBGL.h:11