The RRT planner for kinodynamic systems. More...

Inheritance diagram for RRTKinodynamicPlanner:

Public Types
typedef KinodynamicTree::Node	Node

Public Member Functions
	RRTKinodynamicPlanner (KinodynamicSpace *s)

virtual void	Init (const State &xinit, CSet *goalSet)

virtual bool	Plan (int maxIters)

virtual bool	Done () const

virtual bool	GetPath (KinodynamicMilestonePath &path)

virtual Node *	Extend ()

virtual Node *	ExtendToward (const State &xdest)

virtual void	PickDestination (State &xdest)

virtual bool	PickControl (const State &x0, const State &xDest, KinodynamicMilestonePath &e)

virtual bool	FilterExtension (Node *n, const KinodynamicMilestonePath &path)
	Subclasses can overload this to eliminate certain extensions of the tree.

virtual void	GetStats (PropertyMap &stats) const

Public Member Functions inherited from KinodynamicPlannerBase
	KinodynamicPlannerBase (KinodynamicSpace *s)

virtual void	Init (const State &xinit, const State &xgoal, Real goalRadius)

Public Attributes
Real	goalSeekProbability

KinodynamicTree	tree

Real	delta

Node *	goalNode

int	numIters

int	numInfeasibleControls

int	numInfeasibleEndpoints

int	numFilteredExtensions

int	numSuccessfulExtensions

Real	nnTime

Real	pickControlTime

Real	visibleTime

Real	overheadTime

Public Attributes inherited from KinodynamicPlannerBase
KinodynamicSpace *	space

CSet *	goalSet

Detailed Description

The RRT planner for kinodynamic systems.

The documentation for this class was generated from the following files:

Public Types