SBLPRT Class Reference

A probabilistic roadmap of trees, where SBL is used for local planning. More...

#include <SBL.h>

Public Types
typedef SBLTree::Node	Node
typedef SBLTree::EdgeInfo	EdgeInfo
typedef Graph::UndirectedGraph< SBLTree *, MilestonePath >	Roadmap

Public Member Functions
	SBLPRT (CSpace *s)
virtual void	Cleanup ()
int	AddSeed (const Config &q)
std::pair< int, int >	Expand ()
int	ExpandTree (int t)
void	AddRoadmapEdgesIfBelowThreshold (Real distanceThreshold)
void	AddRoadmapEdge (int i, int j)
bool	IsEdgeConnected (int i, int j) const
bool	IsSeedFullyConnected (int i) const
bool	AreSeedsConnected (int i, int j) const
void	CreatePath (int i, int j, MilestonePath &path)
virtual std::pair< int, Node * >	PickConnection (int t, Node *n)
int	PickRandomAdjacentTree (int t)
int	PickClosestAdjacentTree (int t, const Config &x)
Node *	GetClosestNode (int t, const Config &x)
Node *	PickNode (int t)

Public Attributes
CSpace *	space
Real	maxExtendDistance
int	maxExtendIters
Real	defaultPPickClosestTree
Real	defaultPPickClosestNode
int	numIters
Roadmap	roadmap
Graph::ConnectedComponents	ccs

Detailed Description

A probabilistic roadmap of trees, where SBL is used for local planning.

Permitted connections are represented by edges in an undirected graph. Plans are attempted only along these edges. An edge has a corresponding MilestonePath which will contain the path between the seeds once planning is complete.

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

• SBL.h
• SBL.cpp