KrisLibrary
1.0.0
|
A basic RRT (Rapidly-Exploring Random Tree) planner. More...
#include <MotionPlanner.h>
Public Member Functions | |
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) |
Public Attributes | |
Real | delta |
Public Attributes inherited from TreeRoadmapPlanner | |
CSpace * | space |
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 |
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.