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FDPBi Class Reference

A bidirectional version of forward dynamic programming. More...

#include <fdp.h>

Inheritance diagram for FDPBi:

FDP Planner Solver List of all members.

Public Methods

 FDPBi (Problem *problem)
 A constructor that initializes data members.

 ~FDPBi ()
 Empty destructor.

virtual void Reset ()
 Reset the planner.

virtual bool Plan ()
 Attempt to solve an Initial-Goal query by growing an FDP.


Protected Methods

void RecoverSolution (const node &n1, const node &n2)
 Pull out the path and timings from the graphs.


Protected Attributes

node_map<double> G2EdgeTime
 Keep track of timings.

p_queue<double,node> Q2
 Priority queue of nodes.


Detailed Description

A bidirectional version of forward dynamic programming.


Constructor & Destructor Documentation

FDPBi::FDPBi ( Problem * problem )
 

A constructor that initializes data members.

FDPBi::~FDPBi ( ) [inline]
 

Empty destructor.


Member Function Documentation

bool FDPBi::Plan ( ) [virtual]
 

Attempt to solve an Initial-Goal query by growing an FDP.

Reimplemented from FDP.

void FDPBi::RecoverSolution ( const node & n1,
const node & n2 ) [protected]
 

Pull out the path and timings from the graphs.

void FDPBi::Reset ( ) [virtual]
 

Reset the planner.

Reimplemented from FDP.


Member Data Documentation

node_map< double > FDPBi::G2EdgeTime [protected]
 

Keep track of timings.

p_queue< double,node > FDPBi::Q2 [protected]
 

Priority queue of nodes.


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.