KrisLibrary  1.0.0
PRT.h
1 #ifndef ROBOTICS_PRT_H
2 #define ROBOTICS_PRT_H
3 
4 #include "CSpace.h"
5 
12 {
13  public:
14  typedef Graph::Tree<Config,EdgePlanner> Node;
15  struct Tree
16  {
17  Node* root;
18  Config centroid;
19  };
20  struct TreeEdge
21  {
22  Node* start, *end;
23  MilestonePath path;
24  };
25 
26  PRTPlanner();
27  virtual ~PRTPlanner();
28  virtual void Cleanup();
29  virtual void Seed();
30  virtual void AddAndGrowTree(const Config& x);
31  virtual void Expand();
32  virtual bool ConnectTrees(int i,int j);
33 
35 
37  int numSeedTrees,seedTreeSize;
39  int numClosestTreesToConnect,numRandomTreesToConnect;
40  int numStraightLineAttempts,numSingleQueryIterations;
41 };
42 
43 #endif
Vector Config
an alias for Vector
Definition: RobotKinematics3D.h:14
A sequence of locally planned paths between milestones.
Definition: planning/Path.h:15
Definition: PRT.h:15
Definition: PRT.h:20
int numClosestTreesToConnect
these flags govern the choice of trees to connect per expansion operation
Definition: PRT.h:39
int numSeedTrees
these flags govern the number of seeded trees and their size
Definition: PRT.h:37
The PRT (Probabilistic Roadmap of Trees) planner.
Definition: PRT.h:11
Basic template graph structure.
Definition: Graph.h:47