Пример #1
0
        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);
        }
Пример #2
0
        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");
            }
        }