#include <rcrrt.h>
Inheritance diagram for RCRRTBall:
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 InitialGoal 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... 





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

Extend the nearest node to the random state.
Reimplemented from RCRRT. 

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

check the termination condition: n points in the balls in row.
Reimplemented from RCRRT. 

the radius of the balls surrounding the nodes.


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


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