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PlannerHsu Class Reference
The planner of Hsu, Latombe, Motwani (not really an RRT).
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#include <rrt.h>
Inheritance diagram for PlannerHsu:
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
PlannerHsu::PlannerHsu (
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Problem * p )
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PlannerHsu::~PlannerHsu (
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) [inline, virtual]
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Member Function Documentation
vector PlannerHsu::ChooseNearbyState (
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const vector & x ) [protected]
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bool PlannerHsu::Connect (
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const vector & x1,
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const vector & x2 ) [protected]
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bool PlannerHsu::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 PlannerHsu::SelectNode (
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const GRAPH< vector,vector >& g ) [protected]
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void PlannerHsu::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 > PlannerHsu::InverseWeights [protected]
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double PlannerHsu::NeighborFactor
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double PlannerHsu::NeighborRadius
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double PlannerHsu::StepSize
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double PlannerHsu::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: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.