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RRTHsu Class Reference
The planner of Hsu, Latombe, Motwani (not really an RRT).
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#include <rrt.h>
Inheritance diagram for RRTHsu:
List of all members.
Detailed Description
The planner of Hsu, Latombe, Motwani (not really an RRT).
Grow a tree incrementally by simply selecting each vertex based probabilistically on the number of vertices within the neighborhood of each vertex. This method was proposed by Hsu, Latombe, and Motwani. Although derived from RRT, 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
RRTHsu::~RRTHsu (
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) [inline, virtual]
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Member Function Documentation
vector RRTHsu::ChooseNearbyState (
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const vector & x ) [protected]
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bool RRTHsu::Connect (
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const vector & x1,
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const vector & x2 ) [protected]
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bool RRTHsu::Extend (
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const vector & x,
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GRAPH< vector,vector >& g,
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node & nn,
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bool forward = true ) [protected, virtual]
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Incrementally extend the RRT.
Reimplemented from RRT. |
node RRTHsu::SelectNode (
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const GRAPH< vector,vector >& g ) [protected]
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void RRTHsu::UpdateWeights (
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const node & nn,
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const GRAPH< vector,vector >& g ) [protected]
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Member Data Documentation
node_map< double > RRTHsu::InverseWeights [protected]
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double RRTHsu::NeighborFactor
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double RRTHsu::NeighborRadius
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double RRTHsu::WeightScale [protected]
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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: Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.