---

RRTExtCon Class Reference

Use Connect instead of Extend to connect the two trees. More...

#include <rrt.h>

Inheritance diagram for RRTExtCon:

List of all members.

Public Methods
	RRTExtCon (Problem *p)
virtual	~RRTExtCon ()
virtual bool	Plan ()
	This planner is greedier in its attempt to connect the trees. More...

---

Detailed Description

Use Connect instead of Extend to connect the two trees.

This planner balances the computation between growing the trees toward random samples and toward each other. G is the tree from the initial state, and G2 is the tree from the goal state. In each iteration, there are four steps:

1. Use Extend to grow G toward a random sample
2. Use Connect to grow G2 toward the new node in G
3. Use Extend to grow G2 toward a random sample
4. Use Connect to grow G toward the new node in G2

In each step, node selection is based on the nearest neighbor.

The planner is described in Kuffner, LaValle, ICRA, 2000. The only difference between RRTExtExt and RRTExtCon is the replacement of Extend with Connect in two steps.

---

Constructor & Destructor Documentation

RRTExtCon::RRTExtCon (  Problem *    p )

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

---

Member Function Documentation

bool RRTExtCon::Plan (    )  [virtual]

This planner is greedier in its attempt to connect the trees. Reimplemented from RRTDual.

---

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

• rrt.h
• rrt.C

---

Web page maintained by Steve LaValle