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RRTExtExt Class Reference

Balance between growing trees toward each other and exploring. More...

#include <rrt.h>

Inheritance diagram for RRTExtExt:

List of all members.

Public Methods
	RRTExtExt (Problem *p)
virtual	~RRTExtExt ()
virtual bool	Plan ()
	The dual-tree planner used in LaValle, Kuffner, ICRA 1999. Each tree is extended toward a randomly-sampled point. RRTExtExt is generally better. More...

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Detailed Description

Balance between growing trees toward each other and exploring.

This planner balances the computation between growing the trees toward random samples and toward each other. G is the tree from the initial state, and G2 is the tree from the goal state. In each iteration, there are four steps:

1. Use Extend to grow G toward a random sample
2. Use Extend to grow G2 toward the new node in G
3. Use Extend to grow G2 toward a random sample
4. Use Extend to grow G toward the new node in G2

In each step, node selection is based on the nearest neighbor.

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Constructor & Destructor Documentation

RRTExtExt::RRTExtExt (  Problem *    p )

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

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Member Function Documentation

bool RRTExtExt::Plan (    )  [virtual]

The dual-tree planner used in LaValle, Kuffner, ICRA 1999. Each tree is extended toward a randomly-sampled point. RRTExtExt is generally better. Reimplemented from RRTDual.

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

• rrt.h
• rrt.C

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Web page maintained by Steve LaValle