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RRTSlide Class Reference

In the Connect method, slide along the walls. More...

#include <rrtslide.h>

Inheritance diagram for RRTSlide:

RRTCon RRTGoalBias RRT IncrementalPlanner Planner Solver List of all members.

Public Methods

 RRTSlide (Problem *p)
virtual ~RRTSlide ()
virtual MSLVector SelectInput (const MSLVector &x1, const MSLVector &x2, MSLVector &nx_best, bool &success, bool forward)
 Select the input that gets closest to x2 from x1. More...

virtual bool Connect (const MSLVector &x, MSLTree *t, MSLNode *&nn, bool forward)
 Iterated Extend. More...

MSLVector RandomDirection ()

Public Attributes

int RandomTrials
int NumDirections
vector< MSLVector > RandomDirections

Detailed Description

In the Connect method, slide along the walls.

Constructor & Destructor Documentation

RRTSlide::RRTSlide (  Problem *    p ) 
 

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

Member Function Documentation

bool RRTSlide::Connect (  const MSLVector &    x,
MSLTree *    t,
MSLNode *&    nn,
bool    forward
)  [virtual]
 

Iterated Extend.

Reimplemented from RRT.

MSLVector RRTSlide::RandomDirection (    ) 
 

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

Select the input that gets closest to x2 from x1.

Reimplemented from RRT.

Member Data Documentation

int RRTSlide::NumDirections
 

vector<MSLVector> RRTSlide::RandomDirections
 

int RRTSlide::RandomTrials
 

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

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