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RRTCon Class Reference

Replaces Extend with Connect. More...

#include <rrt.h>

Inheritance diagram for RRTCon:

RRTGoalBias RRT IncrementalPlanner Planner Solver RRTSlide List of all members.

Public Methods

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

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

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 MSLNode 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 ) 
 

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

An empty desctructor.

Member Function Documentation

bool RRTCon::Plan (    )  [virtual]
 

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

Reimplemented from RRT.

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

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