FMT updates: improves code, heuristics, kNN and collision check caching

Please, note that the new parameter cacheCC_ is intentionally not included as a PlannerParam because we want the general users to take advantage of it and not disable it accidentally. An advanced user could use the setCacheCC() method.
If you'd like this function to be public and it has a use somewhere else in
the code, then please return an integer type.
The string return type is really for progress properties, and that should
be private.

If the function is not used elsewhere, please delete it.

On Tue, Nov 11, 2014 at 12:44 PM, Javier V. Gómez <notifications@github.com>
wrote:

> In src/ompl/geometric/planners/fmt/FMT.h:
>
> > @@ -106,6 +114,20 @@ namespace ompl
> >                  return numSamples_;
> >              }
> >
> > +            std::string getCollisionCheckCount() const;
>
> I do not think so. I was going to include this as a planner progress
> property (ppp). But, since FMT* works "in batchs", it is not actually a ppp
> per se. Therefore, I leave it public as other ppp getters (RRTstar for
> instance) but not include it as ppp.
>
> —
> Reply to this email directly or view it on GitHub
> <https://github.com/ompl/ompl/pull/41/files#r20178944>.
>