#include <rrt.h>
Inheritance diagram for RRTExtExt::
Public Methods  
RRTExtExt (Problem *p)  
virtual  ~RRTExtExt () 
virtual bool  Plan () 
The dualtree planner used in LaValle, Kuffner, ICRA 1999. Each tree is extended toward a randomlysampled point. RRTExtExt is generally better. 
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:





The dualtree planner used in LaValle, Kuffner, ICRA 1999. Each tree is extended toward a randomlysampled point. RRTExtExt is generally better.
Reimplemented from RRTDual. 