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rrtslide.h

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00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) University of Illinois and Steven M. LaValle.     
00006 // All Rights Reserved.
00007 //
00008 // Permission to use, copy, and distribute this software and its
00009 // documentation is hereby granted free of charge, provided that
00010 // (1) it is not a component of a commercial product, and
00011 // (2) this notice appears in all copies of the software and
00012 //     related documentation.
00013 //
00014 // The University of Illinois and the author make no representations
00015 // about the suitability or fitness of this software for any purpose.  
00016 // It is provided "as is" without express or implied warranty.
00017 //----------------------------------------------------------------------
00018 
00019 #include <fstream>
00020 #include <math.h>
00021 #include <vector>
00022 using namespace std;
00023 
00024 #include <MSL/vector.h>
00025 #include <MSL/tree.h>
00026 #include <MSL/rrt.h>
00027 #include <MSL/defs.h>
00028 
00030 class RRTSlide: public RRTCon {
00031  public:
00032   RRTSlide(Problem *p);
00033   virtual ~RRTSlide() {};
00034 
00035   int RandomTrials;
00036   int NumDirections;
00037   vector<MSLVector> RandomDirections;
00038 
00040   virtual MSLVector SelectInput(const MSLVector &x1, const MSLVector &x2, 
00041                                 MSLVector &nx_best, 
00042                                 bool &success, bool forward);
00043 
00045   virtual bool Connect(const MSLVector &x, MSLTree *t, MSLNode *&nn,
00046                        bool forward);
00047 
00048   MSLVector RandomDirection();
00049 };
00050 
00051 
00052 
00053 
00054 
00055 
Motion Strategy Library


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