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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. More...

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

virtual RRTPolar::~RRTPolar   [inline, virtual]

Member Function Documentation

MSLVector RRTPolar::ChooseState   [protected, virtual]

Pick a state using some sampling technique.

Reimplemented from RRT.

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 files: Motion Strategy Library

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