#include <rrt.h>
Inheritance diagram for RandomTree::
Public Methods  
RandomTree (Problem *p)  
virtual  ~RandomTree () 
Protected Methods  
virtual MSLNode*  SelectNode (const MSLVector &x, MSLTree *t, bool forward) 
Return the nearest neighbor in the graph.  
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. 
Grow a tree incrementally by simply selecting vertex at random and moving in a random direction from the chosen vertex. It is not really a Rapidlyexploring Random Tree since there is no random sampling over the state space to "pull" the tree.





Select the input that gets closest to x2 from x1.
Reimplemented from RRT. 

Return the nearest neighbor in the graph.
Reimplemented from RRT. 