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RandomTree Class Reference

Naively extend the tree by random node selection (not really an RRT). More...

#include <rrt.h>

Inheritance diagram for RandomTree:

RRT IncrementalPlanner Planner Solver List of all members.

Public Methods

 RandomTree (Problem *p)
virtual ~RandomTree ()

Protected Methods

virtual MSLNode * SelectNode (const MSLVector &x, MSLTree *t, bool forward)
 Return the nearest neighbor in the graph. More...

virtual MSLVector SelectInput (const MSLVector &x1, const MSLVector &x2, MSLVector &nx_best, bool &success, bool forward)
 Select the input that gets closest to x2 from x1. More...

Detailed Description

Naively extend the tree by random node selection (not really an RRT).

Grow a tree incrementally by simply selecting vertex at random and moving in a random direction from the chosen vertex. It is not really a Rapidly-exploring Random Tree since there is no random sampling over the state space to "pull" the tree.

Constructor & Destructor Documentation

RandomTree::RandomTree (  Problem *    p ) 
 

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

Member Function Documentation

MSLVector RandomTree::SelectInput (  const MSLVector &    x1,
const MSLVector &    x2,
MSLVector &    nx_best,
bool &    success,
bool    forward
)  [protected, virtual]
 

Select the input that gets closest to x2 from x1.

Reimplemented from RRT.

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

Return the nearest neighbor in the graph.

Reimplemented from RRT.

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

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