#include <rrt.h>
Inheritance diagram for RRTGoalBias:
Public Methods  
RRTGoalBias (Problem *p)  
virtual  ~RRTGoalBias () 
Public Attributes  
double  GoalProb 
Protected Methods  
virtual MSLVector  ChooseState () 
Pick a state using some sampling technique. More... 
Instead of choosing a state at random, this planner chooses with probability GoalProb the GoalState. It can be considered as a biased coin toss in which heads yields the goal state, and tails yields a random sample.





Pick a state using some sampling technique.
Reimplemented from RRT. 

