#include <rrt.h>
Inheritance diagram for RRTStar:
Public Methods | |
RRTStar (Problem *p) | |
virtual | ~RRTStar () |
Public Attributes | |
double | OptimalityFactor |
Protected Methods | |
virtual node | NearestNeighbor (const vector &x, const GRAPH<vector,vector> &g, bool forward) |
Return the nearest neighbor in the graph. | |
virtual bool | Extend (const vector &x, GRAPH<vector,vector> &g, node &nn, bool forward) |
Incrementally extend the RRT. | |
Protected Attributes | |
node_map<int> | NodeDepth |
Select nodes in a manner that blends ideas from A* search with random sampling.
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Incrementally extend the RRT.
Reimplemented from RRT. |
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Return the nearest neighbor in the graph.
Reimplemented from RRT. |
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