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RandomTree Class Reference

Naively extend the tree by random node selection (not really an RRT). More...

#include <rrt.h>

Inheritance diagram for RandomTree::

List of all members.

Public Methods
	RandomTree (Problem *p)
virtual	~RandomTree ()
Protected Methods
virtual MSLNode*	SelectNode (const MSLVector &x, MSLTree *t, bool forward)
	Return the nearest neighbor in the graph.
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.

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Detailed Description

Naively extend the tree by random node selection (not really an RRT).

Grow a tree incrementally by simply selecting vertex at random and moving in a random direction from the chosen vertex. It is not really a Rapidly-exploring Random Tree since there is no random sampling over the state space to "pull" the tree.

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Constructor & Destructor Documentation

RandomTree::RandomTree ( Problem * p )

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

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Member Function Documentation

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

Select the input that gets closest to x2 from x1. Reimplemented from RRT.

virtual MSLNode* RandomTree::SelectNode ( const MSLVector & x, MSLTree * t, bool forward ) [protected, virtual]

Return the nearest neighbor in the graph. Reimplemented from RRT.

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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.