Main Page   Namespace List   Class Hierarchy   Compound List   File List   Compound Members   File Members  

RCRRTBall Class Reference

RCRRT planner using ball neighborhood to exclude the repeated states. More...

#include <rcrrt.h>

Inheritance diagram for RCRRTBall:

RCRRT RRTGoalBias RRT IncrementalPlanner Planner Solver RCRRTBallDual RCRRTBallExtExt List of all members.

Public Methods

 RCRRTBall (Problem *p)
virtual ~RCRRTBall ()
virtual MSLNode * SelectNode (const MSLVector &x, MSLTree *t, bool forward)
 check the termination condition: n points in the balls in row. More...

virtual bool Extend (const MSLVector &x, MSLTree *t, MSLNode *&nn, bool forward)
 Extend the nearest node to the random state. More...

virtual bool Connect (const MSLVector &x, MSLTree *t, MSLNode *&nn, bool forward)
 extend the best input to a new state and check if the new state is in some balls. More...

virtual bool Plan ()
 Attempt to solve an Initial-Goal query by growing an RRT. More...


Public Attributes

double BallRadius
 the radius of the balls surrounding the nodes. More...

int FailNumTh
 the termination number, if FailNum random points are in the balls in row the algorithm terminates. More...

int FailNum
 the number of times of the random points in the balls in row. More...

Detailed Description

RCRRT planner using ball neighborhood to exclude the repeated states.

Constructor & Destructor Documentation

RCRRTBall::RCRRTBall (  Problem *    p ) 
 

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

Member Function Documentation

bool RCRRTBall::Connect (  const MSLVector &    x,
MSLTree *    t,
MSLNode *&    nn,
bool    forward
)  [virtual]
 

extend the best input to a new state and check if the new state is in some balls.

Reimplemented from RCRRT.

bool RCRRTBall::Extend (  const MSLVector &    x,
MSLTree *    t,
MSLNode *&    nn,
bool    forward
)  [virtual]
 

Extend the nearest node to the random state.

Reimplemented from RCRRT.

bool RCRRTBall::Plan (    )  [virtual]
 

Attempt to solve an Initial-Goal query by growing an RRT.

Reimplemented from RCRRT.

Reimplemented in RCRRTBallDual.

MSLNode * RCRRTBall::SelectNode (  const MSLVector &    x,
MSLTree *    t,
bool    forward
)  [virtual]
 

check the termination condition: n points in the balls in row.

Reimplemented from RCRRT.

Member Data Documentation

double RCRRTBall::BallRadius
 

the radius of the balls surrounding the nodes.

int RCRRTBall::FailNum
 

the number of times of the random points in the balls in row.

int RCRRTBall::FailNumTh
 

the termination number, if FailNum random points are in the balls in row the algorithm terminates.

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

Web page maintained by Steve LaValle