An SBL motion planner that uses a SBLSubdivision to pick the next node to expand, and nodes to connect. More...

#include <SBLTree.h>

Inheritance diagram for SBLTreeWithGrid:

Public Member Functions
	SBLTreeWithGrid (CSpace *)

virtual void	Init (const Config &qStart)

virtual void	Cleanup ()

void	InitDefaultGrid (int numDims, Real h)

void	RandomizeSubset ()
	Randomizes the dimensions of the grid divisions Astart,Agoal.

virtual void	AddMilestone (Node *n)

virtual void	RemoveMilestone (Node *n)

virtual Node *	PickExpand ()

Node *	FindNearby (const Config &x)

Public Member Functions inherited from SBLTree
	SBLTree (CSpace *)

virtual Node *	Extend (Real maxDistance, int maxIters)

Node *	AddMilestone (const Config &q)

bool	HasNode (Node *n) const

Node *	AddChild (Node *n, const Config &x)

Node *	FindClosest (const Config &x)

void	AdjustMilestone (Node *n, const Config &newConfig)

void	DeleteSubtree (Node *n)

Public Attributes
Real	gridDivision

GridDensityEstimator	A

Public Attributes inherited from SBLTree
CSpace *	space

Node *	root

Additional Inherited Members
Public Types inherited from SBLTree
typedef Graph::TreeNode< Config, EdgePlannerPtr >	Node

Static Public Member Functions inherited from SBLTree
static bool	CheckPath (SBLTree ts, Node ns, SBLTree tg, Node ng, std::list< EdgeInfo > &outputPath)

static bool	CheckPath (SBLTree t, Node ns, Node *ng, MilestonePath &outputPath)

Detailed Description

An SBL motion planner that uses a SBLSubdivision to pick the next node to expand, and nodes to connect.

Member Function Documentation

void SBLTreeWithGrid::InitDefaultGrid	(	int	numDims,
		Real	h
	)

Initializes the grids Astart,Agoal to a configuration space of numDims dimensions, uniform cell width of h

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