A single-query RRT (Rapidly-Exploring Random Tree) planner. More...
#include <MotionPlanner.h>
Inheritance diagram for BidirectionalRRTPlanner:
Public Member Functions | |
| BidirectionalRRTPlanner (CSpace *s) | |
| void | Init (const Config &start, const Config &goal) |
| Clears the trees, then initializes the start/goal configs. | |
| bool | Plan () |
| Performs 1 step of planning, returns true on success. | |
| void | CreatePath (MilestonePath &) const |
| Returns the planned path, if successful. | |
 Public Member Functions inherited from RRTPlanner | |
| RRTPlanner (CSpace *s) | |
| virtual Node * | Extend () |
| Public Member Functions inherited from TreeRoadmapPlanner | |
| TreeRoadmapPlanner (CSpace *) | |
| virtual void | GenerateConfig (Config &x) |
| virtual Node * | AddMilestone (const Config &x) |
| virtual Node * | TestAndAddMilestone (const Config &x) |
| virtual Node * | AddInfeasibleMilestone (const Config &x) |
| virtual void | Cleanup () |
| virtual void | ConnectToNeighbors (Node *) |
| virtual EdgePlannerPtr | TryConnect (Node *, Node *) |
| virtual void | DeleteSubtree (Node *n) |
| virtual Node * | ClosestMilestone (const Config &x) |
| virtual Node * | ClosestMilestoneInComponent (int component, const Config &x) |
| virtual Node * | ClosestMilestoneInSubtree (Node *node, const Config &x) |
| Node * | Extend (Node *n, const Config &x) |
| Node * | TryExtend (Node *n, const Config &x) |
| void | AttachChild (Node *p, Node *c, const EdgePlannerPtr &e) |
| Node * | SplitEdge (Node *p, Node *n, Real u) |
| void | CreatePath (Node *a, Node *b, MilestonePath &path) |
Additional Inherited Members | |
| Public Types inherited from TreeRoadmapPlanner | |
| typedef Graph::TreeNode< Milestone, EdgePlannerPtr > | Node |
| Public Attributes inherited from RRTPlanner | |
| Real | delta |
| Public Attributes inherited from TreeRoadmapPlanner | |
| CSpace * | space |
| std::vector< Node * > | connectedComponents |
| Real | connectionThreshold |
| std::vector< Node * > | milestones |
| Config | x |
Detailed Description
A single-query RRT (Rapidly-Exploring Random Tree) planner.
Consists of two trees, one from the start, the other from the goal. Tries to connect the two when an extended config is within connectionThreshold of the other tree.
The start and goal configs are stored in milestones 0 and 1, resp.
The documentation for this class was generated from the following files:
- MotionPlanner.h
- MotionPlanner.cpp
