KrisLibrary  1.0.0
Public Member Functions | Public Attributes | List of all members
RRTPlanner Class Reference

A basic RRT (Rapidly-Exploring Random Tree) planner. More...

#include <MotionPlanner.h>

Inheritance diagram for RRTPlanner:
TreeRoadmapPlanner BidirectionalRRTPlanner

Public Member Functions

 RRTPlanner (CSpace *s)
 
virtual NodeExtend ()
 
- Public Member Functions inherited from TreeRoadmapPlanner
 TreeRoadmapPlanner (CSpace *)
 
virtual void GenerateConfig (Config &x)
 
virtual NodeAddMilestone (const Config &x)
 
virtual NodeTestAndAddMilestone (const Config &x)
 
virtual NodeAddInfeasibleMilestone (const Config &x)
 
virtual void Cleanup ()
 
virtual void ConnectToNeighbors (Node *)
 
virtual EdgePlannerPtr TryConnect (Node *, Node *)
 
virtual void DeleteSubtree (Node *n)
 
virtual NodeClosestMilestone (const Config &x)
 
virtual NodeClosestMilestoneInComponent (int component, const Config &x)
 
virtual NodeClosestMilestoneInSubtree (Node *node, const Config &x)
 
NodeExtend (Node *n, const Config &x)
 
NodeTryExtend (Node *n, const Config &x)
 
void AttachChild (Node *p, Node *c, const EdgePlannerPtr &e)
 
NodeSplitEdge (Node *p, Node *n, Real u)
 
void CreatePath (Node *a, Node *b, MilestonePath &path)
 

Public Attributes

Real delta
 
- Public Attributes inherited from TreeRoadmapPlanner
CSpacespace
 
std::vector< Node * > connectedComponents
 
Real connectionThreshold
 
std::vector< Node * > milestones
 
Config x
 

Additional Inherited Members

- Public Types inherited from TreeRoadmapPlanner
typedef Graph::TreeNode< Milestone, EdgePlannerPtr > Node
 

Detailed Description

A basic RRT (Rapidly-Exploring Random Tree) planner.

Max distance to expand existing nodes is given in delta.

Currently this does not attempt to connect separate trees.


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