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RRTCon Class Reference

Replaces Extend with Connect. More...

#include <rrt.h>

Inheritance diagram for RRTCon:

RRTGoalBias RRT Planner Solver List of all members.

Public Methods

 RRTCon (Problem *p)
virtual ~RRTCon ()
 An empty desctructor.

virtual void Construct ()
 Here Extend is replaced by Connect. The tree is extended all the to the random sample, if possible.

virtual bool Plan ()
 Just like in the base class, except Extend is replaced with Connect.


Detailed Description

Replaces Extend with Connect.

The RRT in the base class uses Extend to move a small amount in each step toward the random sample. In RRTCon, Extend is replaced by a method called Connect, which iterates the extension until the random sample is reached. Connect only adds the final node to the tree (not the intermediate increments). Since RRTCon is derived from RRTGoalBias, a biasing probability can be set. By default, GoalProb = 0.0.


Constructor & Destructor Documentation

RRTCon::RRTCon ( Problem * p )
 

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

An empty desctructor.


Member Function Documentation

void RRTCon::Construct ( ) [virtual]
 

Here Extend is replaced by Connect. The tree is extended all the to the random sample, if possible.

Reimplemented from RRT.

bool RRTCon::Plan ( ) [virtual]
 

Just like in the base class, except Extend is replaced with Connect.

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.