internal ExplorationTree(CSpace cSpace, Node rootNode, GrowConnectionType connectionType, bool useKDtree, double maxEdgeSize)
{
this.cSpace = cSpace;
this.nodeList = new NodeList(cSpace, growConnectionType, useKDtree);
this.growConnectionType = connectionType;
this.maxEdgeSize = maxEdgeSize;
nodeList.AddNode(rootNode);
}
internal ExplorationTree(CSpace cSpace, Node rootNode, int sampleCount)
{
this.cSpace = cSpace;
this.nodeList = new NodeList(cSpace, growConnectionType, false);
nodeList.AddNode(rootNode);
switch (samplingMethod)
{
case SamplingMethod.RandomPrior:
sampleList = cSpace.GenerateLatticeSampleList(sampleCount);
break;
case SamplingMethod.LatticePrior:
sampleList = cSpace.GenerateLatticeSampleList(sampleCount);
break;
case SamplingMethod.RandomInteractive:
throw new ArgumentException("Cannot initialize sampleCount with interactive sampling method", "sampleCount");
}
}