#include <rrt.h>
Inheritance diagram for RRT:
Public Methods | |
RRT (Problem *problem) | |
A constructor that initializes data members. | |
virtual | ~RRT () |
Empty destructor. | |
virtual void | Reset () |
Reset the planner. | |
virtual void | Construct () |
Generate an RRT. | |
virtual bool | Plan () |
Attempt to solve an Initial-Goal query by growing an RRT. | |
Public Attributes | |
bool | UseANN |
If true, then the ANN package is used for nearest neighbors. It assumes R^n topology and Euclidean metric. The default is false. | |
double | GoalDist |
The distance of the closest RRT node to the goal. | |
vector | BestState |
The closest state to the goal so far (not used in dual-tree planners). | |
double | ConnectTimeLimit |
The maximum amount of time to move in a Connect step (default = INFINITY). | |
int | SatisfiedCount |
Number of times the collision checker has been called. | |
Protected Methods | |
virtual vector | SelectBestInput (const vector &x1, const vector &x2, vector &nx_best, bool &success, bool forward) |
Select the input that gets closest to x2 from x1. | |
virtual vector | SelectRandomInput (const vector &x1, const vector &x2, vector &nx_best, bool &success, bool forward) |
A replacement of Extend. | |
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. | |
virtual bool | Connect (const vector &x, GRAPH<vector,vector> &g, node &nn, bool forward) |
Iterated Extend. | |
virtual bool | Project (const vector &x, GRAPH<vector,vector> &g, node &nn, bool forward) |
Like Extend, except it adds a node for each input (not used). | |
virtual vector | ChooseState () |
Pick a state using some sampling technique. | |
list<node> | PathToLeaf (const node &n, const GRAPH<vector,vector> &g) |
Pull the path out of the tree. | |
Protected Attributes | |
node_map<double> | GEdgeTime |
node_map<double> | G2EdgeTime |
The base class for the planners based on Rapidly-exploring Random Trees. In the base class, a single tree is generated without any regard to the GoalState. The best planners to try are RRTGoalBias and RRTGoalZoom for single trees, and RRTConCon and RRTExtExt for dual trees. Dual tree approaches are much more efficient than single tree approaches, assuming dual trees can be applied.
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A constructor that initializes data members.
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Empty destructor.
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Pick a state using some sampling technique.
Reimplemented in RRTGoalBias, RRTGoalZoom, RRTPolar, and RRTHull. |
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Iterated Extend.
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Generate an RRT.
Reimplemented from Planner. Reimplemented in RRTGoalPull, and RRTCon. |
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Incrementally extend the RRT.
Reimplemented in RRTStar, and PlannerHsu. |
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Return the nearest neighbor in the graph.
Reimplemented in RRTStar, and RandomTree. |
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Pull the path out of the tree.
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Attempt to solve an Initial-Goal query by growing an RRT.
Reimplemented from Planner. Reimplemented in RRTCon, RRTDual, RRTExtExt, RRTExtCon, and RRTConCon. |
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Like Extend, except it adds a node for each input (not used).
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Reset the planner.
Reimplemented from Planner. |
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Select the input that gets closest to x2 from x1.
Reimplemented in RandomTree. |
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A replacement of Extend.
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The closest state to the goal so far (not used in dual-tree planners).
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The maximum amount of time to move in a Connect step (default = INFINITY).
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The distance of the closest RRT node to the goal.
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Number of times the collision checker has been called.
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If true, then the ANN package is used for nearest neighbors. It assumes R^n topology and Euclidean metric. The default is false.
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