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RRTStar Class Reference

Blend A* search ideas with random sampling. More...

#include <rrt.h>

Inheritance diagram for RRTStar:

RRT Planner Solver List of all members.

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

Detailed Description

Blend A* search ideas with random sampling.

Select nodes in a manner that blends ideas from A* search with random sampling.


Constructor & Destructor Documentation

RRTStar::RRTStar ( Problem * p )
 

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


Member Function Documentation

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

Incrementally extend the RRT.

Reimplemented from RRT.

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

Return the nearest neighbor in the graph.

Reimplemented from RRT.


Member Data Documentation

node_map< int > RRTStar::NodeDepth [protected]
 

double RRTStar::OptimalityFactor
 


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.