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RRTGoalZoom Class Reference

Bias the samples toward the goal as the tree gets closer. More...

#include <rrt.h>

Inheritance diagram for RRTGoalZoom::

RRT IncrementalPlanner Planner Solver List of all members.

Public Methods

 RRTGoalZoom (Problem *p)
virtual ~RRTGoalZoom ()

Public Attributes

double GoalProb
double ZoomProb
double ZoomFactor

Protected Methods

virtual MSLVector ChooseState ()
 Pick a state using some sampling technique.

Detailed Description

Bias the samples toward the goal as the tree gets closer.

This planner biases the sampling towards a region that contains the goal. The region shrinks around the goal as the tree comes nearer. This planner is based on a class project at Iowa State by Jun Qu in 1999.

Constructor & Destructor Documentation

RRTGoalZoom::RRTGoalZoom ( Problem * p )

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

Member Function Documentation

virtual MSLVector RRTGoalZoom::ChooseState ( ) [protected, virtual]

Pick a state using some sampling technique.

Reimplemented from RRT.

Member Data Documentation

double RRTGoalZoom::GoalProb

double RRTGoalZoom::ZoomFactor

double RRTGoalZoom::ZoomProb

The documentation for this class was generated from the following file: Motion Strategy Library

Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.