The SBL motion planner. More...
#include <SBL.h>
Inheritance diagram for SBLPlanner:
Public Types | |
| typedef SBLTree::Node | Node |
| typedef SBLTree::EdgeInfo | EdgeInfo |
Public Member Functions | |
| SBLPlanner (CSpace *) | |
| virtual void | Cleanup () |
| virtual void | Init (const Config &qStart, const Config &qGoal) |
| virtual bool | Extend () |
| virtual Node * | PickConnection (SBLTree *t, const Config &x) |
| bool | IsDone () const |
| void | CreatePath (MilestonePath &path) const |
| bool | CheckPath (Node *nStart, Node *nGoal) |
Public Attributes | |
| CSpace * | space |
| Real | maxExtendDistance |
| int | maxExtendIters |
| Real | edgeConnectionThreshold |
| int | numIters |
| SBLTree * | tStart |
| SBLTree * | tGoal |
| std::list< EdgeInfo > | outputPath |
Detailed Description
The SBL motion planner.
Call Init() with the start and goal configuration. While IsDone() returns false, call Extend() . Retrieve the path with CreatePath().
Parameters are maxExtendDistance, maxExtendIters, edgeConnectionThreshold. maxExtendDistance is the radius of the neighborhood sampling. maxExtendIters is the number of iters of shrinking the neighborhood sampling radius until we quit. edgeConnectionThreshold is the minimum distance required for a connection between the two trees.
The documentation for this class was generated from the following files:
- SBL.h
- SBL.cpp
