#include <rcrrt.h>
Inheritance diagram for RCRRT:
Public Methods  
bool  IsNodeExpanded (MSLNode *x, double &biasvalue, bool forward) 
Check if this node has been explored (all inputs are expanded) and return the collision tendency information Used in SelectNode function. More...  
virtual bool  IsInputApplied (const int &inputindex, const MSLVector &expolreinfo) 
Check the ith input is failed or not Used in SelectInput function. More...  
virtual void  BackWardBiasSet (MSLNode *n, MSLTree *t) 
back ward along the tree to set the bias value. More...  
double  BiasValue (int backstep) 
bias value function,. More...  
RCRRT (Problem *problem)  
virtual  ~RCRRT () 
virtual MSLNode *  SelectNode (const MSLVector &x, MSLTree *t, bool forward) 
Select the nearestneighbor node according to given metric !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! This function is metric dependent !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Choose the nestest neighbor in the search structure If all nodes are explored, return (NULL) node If there exist unexpanded nodes (1) return the closest node with probability equal collisiontendency (2) or, return the closed node when (2) return nothing. More...  
virtual bool  Extend (const MSLVector &x, MSLTree *t, MSLNode *&nn, bool forward) 
Extend the nearest node to the random state return true: a new node is generated return false: 1. all the successors of the chosen node are in collision 2. no nearest node is chosen because all of them are explored. More...  
virtual MSLVector  SelectInput (MSLNode *n1, const MSLVector &x2, MSLVector &nx_best, bool &success, bool forward) 
The first parameter is node because the node will be used in the function, xu_new is the new value for the uncontrolled state. More...  
virtual bool  Connect (const MSLVector &x, MSLTree *t, MSLNode *&nn, bool forward) 
method to increase the extending time because the more time the RCRRT extend in each step, more quickly the overall information of state space is gotten. More...  
virtual bool  Plan () 
Attempt to solve an InitialGoal query by growing an RRT. More...  
Public Attributes  
int  inputnum 
the number of the inputs. More...  
list< MSLVector >  inputset 
input set. More...  
bool  issolutionexist 
true, solution possibly exists; false, solution does not exist. More...  
MSLVector  initexploreinfo 
Initial exploration information initialized with 0. More...  
double  initcoltend 
Initial collision tendency. More... 





back ward along the tree to set the bias value.


bias value function,.


method to increase the extending time because the more time the RCRRT extend in each step, more quickly the overall information of state space is gotten.
Reimplemented from RRT. Reimplemented in RCRRTBall. 

Extend the nearest node to the random state return true: a new node is generated return false: 1. all the successors of the chosen node are in collision 2. no nearest node is chosen because all of them are explored.
Reimplemented from RRT. Reimplemented in RCRRTBall. 

Check the ith input is failed or not Used in SelectInput function.


Check if this node has been explored (all inputs are expanded) and return the collision tendency information Used in SelectNode function.


Attempt to solve an InitialGoal query by growing an RRT.
Reimplemented from RRT. Reimplemented in RCRRTDual. 

The first parameter is node because the node will be used in the function, xu_new is the new value for the uncontrolled state.


Select the nearestneighbor node according to given metric !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! This function is metric dependent !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Choose the nestest neighbor in the search structure If all nodes are explored, return (NULL) node If there exist unexpanded nodes (1) return the closest node with probability equal collisiontendency (2) or, return the closed node when (2) return nothing.
Reimplemented from RRT. Reimplemented in RCRRTBall. 

Initial collision tendency.


Initial exploration information initialized with 0.


the number of the inputs.


input set.


true, solution possibly exists; false, solution does not exist.
