14 typedef Graph::Tree<Config,EdgePlanner> Node;
28 virtual void Cleanup();
30 virtual void AddAndGrowTree(
const Config& x);
31 virtual void Expand();
32 virtual bool ConnectTrees(
int i,
int j);
40 int numStraightLineAttempts,numSingleQueryIterations;
Vector Config
an alias for Vector
Definition: RobotKinematics3D.h:14
A sequence of locally planned paths between milestones.
Definition: planning/Path.h:15
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