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RRTConCon Class ReferenceUse Connect for both exploration and connecting of trees.
Inheritance diagram for RRTConCon::
List of all members.
| ||RRTConCon (Problem *p)|
|virtual ||~RRTConCon ()|
|virtual bool ||Plan ()|
| ||The greediest of the dual-tree planners. Very fast for holonomic planning.|
Use Connect for both exploration and connecting of trees.
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:
In each step, node selection is based on the nearest neighbor.
- Use Connect to grow G toward a random sample
- Use Connect to grow G2 toward the new node in G
- Use Connect to grow G2 toward a random sample
- Use Connect to grow G toward the new node in G2
The planner is described in LaValle, Kuffner, WAFR, 2000. The only difference between RRTConCon and RRTExtExt is the replacement of Extend with Connect in all four steps.
Constructor & Destructor Documentation
Problem * p )
Member Function Documentation
bool RRTConCon::Plan (
The greediest of the dual-tree planners. Very fast for holonomic planning.
Reimplemented from RRTDual.
The documentation for this class was generated from the following file:
Motion Strategy Library
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Partial support provided by NSF CAREER Award IRI-970228 (LaValle),
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.