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RRTConCon Class Reference

Use Connect for both exploration and connecting of trees. More...

#include <rrt.h>

Inheritance diagram for RRTConCon::

RRTDual RRT IncrementalPlanner Planner Solver List of all members.

Public Methods

 RRTConCon (Problem *p)
virtual ~RRTConCon ()
virtual bool Plan ()
 The greediest of the dual-tree planners. Very fast for holonomic planning.

Detailed Description

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:

  1. Use Connect to grow G toward a random sample
  2. Use Connect to grow G2 toward the new node in G
  3. Use Connect to grow G2 toward a random sample
  4. Use Connect to grow G toward the new node in G2
In each step, node selection is based on the nearest neighbor.

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

RRTConCon::RRTConCon ( Problem * p )
 

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

Member Function Documentation

bool RRTConCon::Plan ( ) [virtual]
 

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

Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.