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RRTPolar Class Reference

Gradually bias the sampling towards the goal. More...

#include <rrt.h>

Inheritance diagram for RRTPolar::

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.
virtual MSLVector	SelectInput (const MSLVector &x1, const MSLVector &x2, MSLVector &nx_best, bool &success)

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Detailed Description

Gradually bias the sampling towards the goal.

Instead of random sampling, this planner attempts to gradually bias samples toward the goal.

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Constructor & Destructor Documentation

RRTPolar::RRTPolar ( Problem * p )

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

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Member Function Documentation

virtual MSLVector RRTPolar::ChooseState ( ) [protected, virtual]

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

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

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Member Data Documentation

double RRTPolar::RadiusExp

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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.