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RandomTree Class Reference

Naively extend the tree by random node selection (not really an RRT). More...

#include <rrt.h>

Inheritance diagram for RandomTree:

RRT Planner Solver List of all members.

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.


Detailed Description

Naively extend the tree by random node selection (not really an RRT).

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.


Constructor & Destructor Documentation

RandomTree::RandomTree ( Problem * p )
 

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


Member Function Documentation

node RandomTree::NearestNeighbor ( const vector & x,
const GRAPH< vector,vector >& g,
bool forward = true ) [protected, virtual]
 

Return the nearest neighbor in the graph.

Reimplemented from RRT.

vector RandomTree::SelectBestInput ( const vector & x1,
const vector & x2,
vector & nx_best,
bool & success,
bool forward = true ) [protected, virtual]
 

Select the input that gets closest to x2 from x1.

Reimplemented from RRT.


The documentation for this class was generated from the following files: 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.