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PRM Class Reference

A probabilistic roadmap planner, proposed by Kavraki, Svestka, Latombe, Overmars, 1994. More...

#include <prm.h>

Inheritance diagram for PRM:

List of all members.

Public Methods
	PRM (Problem *problem)
	A constructor that initializes data members. More...
virtual	~PRM ()
	Empty destructor. More...
virtual void	Construct ()
	Build a PRM. More...
virtual bool	Plan ()
	Try to solve a planning query using an existing PRM. More...
Public Attributes
double	Radius
	Used for deciding on which neighbors to choose. More...
DisjointSets< MSLVertex * >	ds
	The disjoint sets data structure (for connected components). More...
int	SatisfiedCount
	Number of times the collision checker has been called. More...
bool	QuasiRandom
	If true, then quasirandom sampling is used (make a file named QuasiRandom). More...
bool	QuasiRandomSukharev
	If true, then use Sukharev grid sampling. More...
double	SukharevDispersion
	l-infinity dispersion used for Sukharev sampling. More...
int	SukharevPointsPerAxis
	Points per axis for the Sukharev grid. More...
bool	QuasiRandomHammersley
	Choose Hammersley, over Halton sequence. More...
Protected Methods
virtual list< MSLVertex * >	NeighboringVertices (const MSLVector &x)
virtual bool	Connect (const MSLVector &x1, const MSLVector &x2, MSLVector &u)
virtual MSLVector	ChooseState (int i, int maxnum, int dim)
MSLVector	QuasiRandomStateHammersley (int i, int maxnum, int dim)
MSLVector	QuasiRandomStateHalton (int i, int dim)
MSLVector	QuasiRandomStateSukharev (int i, int maxnum, int dim)
Protected Attributes
double	StepSize
	Computed from DeltaT using the model. More...
int	MaxNeighbors
int	MaxEdgesPerVertex

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Detailed Description

A probabilistic roadmap planner, proposed by Kavraki, Svestka, Latombe, Overmars, 1994.

The base class for planners based on the Probabilistic Roadmap Planner (PRM) framework of Kavraki, Svestka, Latombe, Overmars, 1994. In the base class, only Holonomic planning problems can be solved (i.e., standard path planning, without differential constraints).

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Constructor & Destructor Documentation

PRM::PRM (  Problem *    problem )

A constructor that initializes data members.

virtual PRM::~PRM (    )  [inline, virtual]

Empty destructor.

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Member Function Documentation

MSLVector PRM::ChooseState (  int    i, int    maxnum, int    dim )  [protected, virtual]

bool PRM::Connect (  const MSLVector &    x1, const MSLVector &    x2, MSLVector &    u )  [protected, virtual]

void PRM::Construct (    )  [virtual]

Build a PRM. Implements Planner.

list< MSLVertex * > PRM::NeighboringVertices (  const MSLVector &    x )  [protected, virtual]

bool PRM::Plan (    )  [virtual]

Try to solve a planning query using an existing PRM. Implements Planner.

MSLVector PRM::QuasiRandomStateHalton (  int    i, int    dim )  [protected]

MSLVector PRM::QuasiRandomStateHammersley (  int    i, int    maxnum, int    dim )  [protected]

MSLVector PRM::QuasiRandomStateSukharev (  int    i, int    maxnum, int    dim )  [protected]

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Member Data Documentation

DisjointSets<MSLVertex*> PRM::ds

The disjoint sets data structure (for connected components).

int PRM::MaxEdgesPerVertex [protected]

int PRM::MaxNeighbors [protected]

bool PRM::QuasiRandom

If true, then quasirandom sampling is used (make a file named QuasiRandom).

bool PRM::QuasiRandomHammersley

Choose Hammersley, over Halton sequence.

bool PRM::QuasiRandomSukharev

If true, then use Sukharev grid sampling.

double PRM::Radius

Used for deciding on which neighbors to choose.

int PRM::SatisfiedCount

Number of times the collision checker has been called.

double PRM::StepSize [protected]

Computed from DeltaT using the model.

double PRM::SukharevDispersion

l-infinity dispersion used for Sukharev sampling.

int PRM::SukharevPointsPerAxis

Points per axis for the Sukharev grid.

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

• prm.h
• prm.C

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