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RRTPolar Class Reference

Gradually bias the sampling towards the goal. More...

#include <rrt.h>

Inheritance diagram for RRTPolar::

RRT IncrementalPlanner Planner Solver List of all members.

Public Methods

 RRTPolar (Problem *p)
virtual ~RRTPolar ()

Public Attributes

double RadiusExp

Protected Methods

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

virtual MSLVector SelectInput (const MSLVector &x1, const MSLVector &x2, MSLVector &nx_best, bool &success)

Detailed Description

Gradually bias the sampling towards the goal.

Instead of random sampling, this planner attempts to gradually bias samples toward the goal.

Constructor & Destructor Documentation

RRTPolar::RRTPolar ( Problem * p )

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

Member Function Documentation

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

Pick a state using some sampling technique.

Reimplemented from RRT.

virtual MSLVector RRTPolar::SelectInput ( const MSLVector & x1,
const MSLVector & x2,
MSLVector & nx_best,
bool & success ) [protected, virtual]

Member Data Documentation

double RRTPolar::RadiusExp

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.