#include <rrt.h>
Inheritance diagram for RandomTree:
Public Methods | |
RandomTree (Problem *p) | |
virtual | ~RandomTree () |
Protected Methods | |
virtual node | NearestNeighbor (const vector &x, const GRAPH<vector,vector> &g, bool forward) |
Return the nearest neighbor in the graph. | |
virtual vector | SelectBestInput (const vector &x1, const vector &x2, vector &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 Rapidly-exploring Random Tree since there is no random sampling over the state space to "pull" the tree.
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Return the nearest neighbor in the graph.
Reimplemented from RRT. |
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Select the input that gets closest to x2 from x1.
Reimplemented from RRT. |