Main Page   Class Hierarchy   Compound List   File List   Compound Members   File Members  

RRTSlide Class Reference

In the Connect method, slide along the walls. More...

#include <rrtslide.h>

Inheritance diagram for RRTSlide::

RRTCon RRTGoalBias RRT IncrementalPlanner Planner Solver List of all members.

Public Methods

 RRTSlide (Problem *p)
virtual ~RRTSlide ()
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.

virtual bool Connect (const MSLVector &x, MSLTree *t, MSLNode *&nn, bool forward)
 Iterated Extend.

MSLVector RandomDirection ()

Public Attributes

int RandomTrials
int NumDirections

Detailed Description

In the Connect method, slide along the walls.

Constructor & Destructor Documentation

RRTSlide::RRTSlide ( Problem * p )

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

Member Function Documentation

bool RRTSlide::Connect ( const MSLVector & x,
MSLTree * t,
MSLNode *& nn,
bool forward ) [virtual]

Iterated Extend.

Reimplemented from RRT.

MSLVector RRTSlide::RandomDirection ( )

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

Select the input that gets closest to x2 from x1.

Reimplemented from RRT.

Member Data Documentation

int RRTSlide::NumDirections

vector<MSLVector> RRTSlide::RandomDirections

int RRTSlide::RandomTrials

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.