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PRM Class Reference

A probabilistic roadmap planner, proposed by Kavraki, Svestka, Latombe, Overmars, 1994. More...

#include <prm.h>

Inheritance diagram for PRM::

List of all members.

Public Methods
	PRM (Problem *problem)
	A constructor that initializes data members.
virtual	~PRM ()
	Empty destructor.
virtual void	Construct ()
	Build a PRM.
virtual bool	Plan ()
	Try to solve a planning query using an existing PRM.
Public Attributes
double	Radius
	Used for deciding on which neighbors to choose.
int	SatisfiedCount
	Number of times the collision checker has been called.
bool	QuasiRandom
	If true, then quasirandom sampling is used (make a file named QuasiRandom).
bool	QuasiRandomHammersley
	Choose Hammersley, over Halton sequence.
Protected Methods
virtual list<MSLVertex*>	NeighboringVertices (const MSLVector &x)
virtual bool	Connect (const MSLVector &x1, const MSLVector &x2, MSLVector &u)
virtual MSLVector	ChooseState (int i, int maxnum, int dim)
MSLVector	QuasiRandomStateHammersley (int i, int maxnum, int dim)
MSLVector	QuasiRandomStateHalton (int i, int dim)
Protected Attributes
double	StepSize
	Computed from DeltaT using the model.
int	MaxNeighbors
int	MaxEdgesPerVertex

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Detailed Description

A probabilistic roadmap planner, proposed by Kavraki, Svestka, Latombe, Overmars, 1994.

The base class for planners based on the Probabilistic Roadmap Planner (PRM) framework of Kavraki, Svestka, Latombe, Overmars, 1994. In the base class, only Holonomic planning problems can be solved (i.e., standard path planning, without differential constraints).

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Constructor & Destructor Documentation

PRM::PRM ( Problem * problem )

A constructor that initializes data members.

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

Empty destructor.

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Member Function Documentation

virtual MSLVector PRM::ChooseState ( int i, int maxnum, int dim ) [protected, virtual]

virtual bool PRM::Connect ( const MSLVector & x1, const MSLVector & x2, MSLVector & u ) [protected, virtual]

void PRM::Construct ( ) [virtual]

Build a PRM. Reimplemented from Planner.

virtual list<MSLVertex*> PRM::NeighboringVertices ( const MSLVector & x ) [protected, virtual]

bool PRM::Plan ( ) [virtual]

Try to solve a planning query using an existing PRM. Reimplemented from Planner.

MSLVector PRM::QuasiRandomStateHalton ( int i, int dim ) [protected]

MSLVector PRM::QuasiRandomStateHammersley ( int i, int maxnum, int dim ) [protected]

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Member Data Documentation

int PRM::MaxEdgesPerVertex [protected]

int PRM::MaxNeighbors [protected]

bool PRM::QuasiRandom

If true, then quasirandom sampling is used (make a file named QuasiRandom).

bool PRM::QuasiRandomHammersley

Choose Hammersley, over Halton sequence.

double PRM::Radius

Used for deciding on which neighbors to choose.

int PRM::SatisfiedCount

Number of times the collision checker has been called.

double PRM::StepSize [protected]

Computed from DeltaT using the model.

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

• prm.h

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Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.