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RRTDual Class Reference

Planners that grow trees from the initial and goal. More...

#include <rrt.h>

Inheritance diagram for RRTDual::

List of all members.

Public Methods
	RRTDual (Problem *p)
virtual	~RRTDual ()
virtual bool	Plan ()
	The dual-tree planner used in LaValle, Kuffner, ICRA 1999. Each tree is extended toward a randomly-sampled point. RRTExtExt is generally better.
Protected Methods
void	RecoverSolution (MSLNode *n1, MSLNode *n2)

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Detailed Description

Planners that grow trees from the initial and goal.

This planner grows one tree, G, from the initial state, and one tree, G2, from the goal state. When the closest pair of points between the two trees is within GapError, a solution path is returned. The planners in the derived classes also use two trees, and are generally more efficient than RRTDual.

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Constructor & Destructor Documentation

RRTDual::RRTDual ( Problem * p )

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

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Member Function Documentation

bool RRTDual::Plan ( ) [virtual]

The dual-tree planner used in LaValle, Kuffner, ICRA 1999. Each tree is extended toward a randomly-sampled point. RRTExtExt is generally better. Reimplemented from RRT. Reimplemented in RRTExtExt, RRTExtCon, and RRTConCon.

void RRTDual::RecoverSolution ( MSLNode * n1, MSLNode * n2 ) [protected]

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

• rrt.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.