Main Page Class Hierarchy Compound List File List Compound Members File Members
Motion Strategy Library Compound List
Here are the classes, structs, unions and interfaces with brief descriptions:
- FDP (A dynamic programming approach to nonholonomic planning, as proposed by Barraquand, Latombe, Algorithmica 10:6, pp. 121-155, 1993)
- FDPBestFirst (Best first search variant, using the Metric in Problem)
- FDPBi (A bidirectional version of forward dynamic programming)
- FDPStar (An A-Star search variant. The Metric in Problem is used as the cost)
- Geom (Geometric models and collision detection methods)
- GeomLedaPolygonal (A point robot in a polygonal world)
- GeomLedaPolygonalRigid (A rigid 2D robot in a polygonal world)
- GeomPQP (Parent class PQP-based list of Triangle models)
- GeomPQP2D (A parent class for 2D PQP geometries)
- GeomPQP2DPoint (2D point robot)
- GeomPQP2DRigid (2D rigid body)
- GeomPQP2DRigidMulti (A collection of 2D rigid bodies)
- GeomPQP3DRigid (3D rigid body)
- GeomPQP3DRigidMulti (A collection of 3D rigid modies)
- Gui (A generic class for designing graphical user interfaces (GUIs))
- GuiPlanner (A rendering-independent GUI for the Planner classes)
- Image (Used for texture mapping as part of RenderGL)
- Model (The incremental simulator model)
- Model1D (A simple one-dimensional model for dynamics studies)
- Model2D (Base for all 2D models)
- Model2DPoint (A point robot in a 2D world)
- Model2DPointCar (A point car-like robot in a 2D world)
- Model2DRigid (A holonomic rigid robot in a 2D world)
- Model2DRigidCar (A rigid car-like robot in a 2D world)
- Model2DRigidCarForward (A rigid car-like robot that can only go forward in a 2D world)
- Model2DRigidCarSmooth (A rigid car-like robot with continuous steering angles This model is used by Th. Fraichard, Scheuer, Laugier)
- Model2DRigidCarSmooth2Trailers (A rigid car-like robot with continuous steering angles and two trailers)
- Model2DRigidCarSmooth3Trailers (A rigid car-like robot with continuous steering angles and three trailers)
- Model2DRigidCarSmoothTrailer (A rigid car-like robot with continuous steering angles and a trailer. The trailer models are taken from Murray and Sastry, Trans. Automatic Control, Vol 38, No 5, 1993, pp. 700-716)
- Model2DRigidChain (A 2D kinematic chain of bodies)
- Model2DRigidDyncar (A 5DOF dynamical model of a rigid car. This model uses a linear tire model, which is far from reality. The model was donated by Jim Bernard)
- Model2DRigidDyncarNtire (A 5DOF dynamical model of a rigid car. This model uses a nonlinear tire model. The model was donated by Jim Bernard)
- Model2DRigidLander (A rigid body with two small side thrusters, and a larger lower thruster. The goal is to navigate and softly "land" the craft by firing thrusters, in spite of gravity)
- Model2DRigidMulti (A collection of free-floating bodies in a 2D world)
- Model3D (A base class for all models in 3D worlds)
- Model3DRigid (A rigid robot in a 3D world)
- Model3DRigidChain (A 3D kinematic chain of bodies that uses DH parameters)
- Model3DRigidHelical (A rigid robot that moves along helical paths in a 3D world)
- Model3DRigidMulti (A collection of free-floating bodies in a 3D world)
- Model3DRigidTree (A 3D kinematic tree of bodies that uses DH parameters)
- ModelLinear (A linear systems model: xdot = Ax + Bu)
- ModelND (Simple axis-parallel motions in an N-dimensional space)
- ModelNintegrator (The "nonholonomic integrator", used by R. Brockett and many others)
- mslGLFace (An internal class, used only for RenderGL)
- mslGLMaterial (An internal class, used only for RenderGL)
- mslGLObject (An internal class, used only for RenderGL)
- MultiArray (A multidimensional array made from a 1D LEDA array)
- Planner (The base class for all path planners)
- PlannerHsu (The planner of Hsu, Latombe, Motwani (not really an RRT))
- PRM (A probabilistic roadmap planner, proposed by Kavraki, Svestka, Latombe, Overmars, 1994)
- Problem (An interface class that provides the primary input to a planner)
- RandomTree (Naively extend the tree by random node selection (not really an RRT))
- Render (A rendering class that accepts commands from a Gui, and determines using specific graphics libraries how to draw the results on a screen)
- RenderGL (Perform 3D rendering using the GL and GLUT libraries)
- RenderLeda (Perform 2D rendering using LEDA)
- RenderPerformer (Perform 3D rendering using the SGI IRIS Performer library)
- RRT (The base class, which generates a single Rapidly-exploring Random Tree)
- RRTCon (Replaces Extend with Connect)
- RRTConCon (Use Connect for both exploration and connecting of trees)
- RRTDual (Planners that grow trees from the initial and goal)
- RRTExtCon (Use Connect instead of Extend to connect the two trees)
- RRTExtExt (Balance between growing trees toward each other and exploring)
- RRTGoalBias (With some probability, choose the goal instead of a random sample)
- RRTGoalPull (Applies inputs that direct the tree towards the goal)
- RRTGoalZoom (Bias the samples toward the goal as the tree gets closer)
- RRTHull (Grow a Rapidly-exploring Random Tree in a large disc)
- RRTPolar (Gradually bias the sampling towards the goal)
- RRTStar (Blend A* search ideas with random sampling)
- Scene (An interface class that gives Problem information to Render. It tells the renderer how the "scene" appears for rendering purposes, as opposed to collision-detection purposes)
- Solver (The base class for all path planners)
- Triangle (A 3D triangle, made of 3 LEDA 3D points)
Motion Strategy Library
Web page maintained by
Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle),
Honda Research, and Iowa State University.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.