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RRTGoalBias Class Reference

With some probability, choose the goal instead of a random sample. More...

#include <rrt.h>

Inheritance diagram for RRTGoalBias::

List of all members.

Public Methods
	RRTGoalBias (Problem *p)
virtual	~RRTGoalBias ()
Public Attributes
double	GoalProb
Protected Methods
virtual MSLVector	ChooseState ()
	Pick a state using some sampling technique.

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Detailed Description

With some probability, choose the goal instead of a random sample.

Instead of choosing a state at random, this planner chooses with probability GoalProb the GoalState. It can be considered as a biased coin toss in which heads yields the goal state, and tails yields a random sample.

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Constructor & Destructor Documentation

RRTGoalBias::RRTGoalBias ( Problem * p )

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

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Member Function Documentation

virtual MSLVector RRTGoalBias::ChooseState ( ) [protected, virtual]

Pick a state using some sampling technique. Reimplemented from RRT.

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Member Data Documentation

double RRTGoalBias::GoalProb

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

• rrt.h

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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.