Robotics Library
0.6.2
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Rapidly-Exploring Random Trees. More...
#include <Rrt.h>
Classes | |
struct | CartesianIterator |
struct | Distance |
struct | TreeBundle |
struct | VertexBundle |
Public Member Functions | |
Rrt (const ::std::size_t &trees=1) | |
virtual | ~Rrt () |
virtual ::std::string | getName () const |
virtual ::std::size_t | getNumEdges () const |
virtual ::std::size_t | getNumVertices () const |
virtual void | getPath (VectorList &path) |
Get solution path. More... | |
virtual void | reset () |
Reset planner. More... | |
virtual bool | solve () |
Find collision free path. More... | |
Public Member Functions inherited from rl::plan::Planner | |
Planner () | |
virtual | ~Planner () |
bool | verify () |
Vertify that start and goal configuration are within joint limits and collision free. More... | |
Public Attributes | |
::rl::math::Real | delta |
Configuration step size. More... | |
::rl::math::Real | epsilon |
Epsilon for configuration comparison. More... | |
bool | kd |
Use kd-tree for nearest neighbor search instead of brute-force. More... | |
Sampler * | sampler |
Public Attributes inherited from rl::plan::Planner | |
::rl::math::Real | duration |
Upper bound for search [s]. More... | |
::rl::math::Vector * | goal |
Goal configuration. More... | |
SimpleModel * | model |
::rl::math::Vector * | start |
Start configuration. More... | |
Viewer * | viewer |
Protected Types | |
typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, VertexBundle, ::boost::no_property, TreeBundle > | Tree |
typedef ::boost::adjacency_list_traits< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::listS >::vertex_descriptor | Vertex |
typedef ::std::pair< const ::rl::math::Vector *, Vertex > | QueryItem |
typedef ::CGAL::Search_traits< ::rl::math::Real, QueryItem, const ::rl::math::Real *, CartesianIterator > | SearchTraits |
typedef Orthogonal_k_neighbor_search< SearchTraits, Distance > | NeighborSearch |
typedef NeighborSearch::Tree | NeighborSearchTree |
typedef ::boost::shared_ptr< NeighborSearchTree > | NeighborSearchTreePtr |
typedef ::std::vector< NeighborSearchTreePtr > | NearestNeighbors |
typedef ::boost::graph_traits< Tree >::edge_descriptor | Edge |
typedef ::boost::graph_traits< Tree >::edge_iterator | EdgeIterator |
typedef ::std::pair< EdgeIterator, EdgeIterator > | EdgeIteratorPair |
typedef ::boost::graph_traits< Tree >::vertex_iterator | VertexIterator |
typedef ::std::pair< VertexIterator, VertexIterator > | VertexIteratorPair |
typedef ::std::pair< Vertex, ::rl::math::Real > | Neighbor |
Protected Member Functions | |
virtual Edge | addEdge (const Vertex &u, const Vertex &v, Tree &tree) |
void | addPoint (NearestNeighbors &nn, const QueryItem &p) |
Vertex | addVertex (Tree &tree, const VectorPtr &q) |
bool | areEqual (const ::rl::math::Vector &lhs, const ::rl::math::Vector &rhs) const |
virtual void | choose (::rl::math::Vector &chosen) |
virtual Vertex | connect (Tree &tree, const Neighbor &nearest, const ::rl::math::Vector &chosen) |
virtual Vertex | extend (Tree &tree, const Neighbor &nearest, const ::rl::math::Vector &chosen) |
virtual Neighbor | nearest (const Tree &tree, const ::rl::math::Vector &chosen) |
Protected Attributes | |
::std::vector< Vertex > | begin |
::std::vector< Vertex > | end |
::std::vector< Tree > | tree |
Protected Attributes inherited from rl::plan::Planner | |
::rl::util::Timer | timer |
Rapidly-Exploring Random Trees.
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rl::plan::Rrt::Rrt | ( | const ::std::size_t & | trees = 1 | ) |
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Reimplemented in rl::plan::Eet.
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Reimplemented in rl::plan::RrtGoalBias.
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Implements rl::plan::Planner.
Reimplemented in rl::plan::RrtGoalBias, rl::plan::RrtExtExt, rl::plan::RrtExtCon, rl::plan::RrtDual, rl::plan::RrtConCon, and rl::plan::RrtCon.
std::size_t rl::plan::Rrt::getNumEdges | ( | ) | const |
std::size_t rl::plan::Rrt::getNumVertices | ( | ) | const |
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Get solution path.
Implements rl::plan::Planner.
Reimplemented in rl::plan::RrtDual, and rl::plan::Eet.
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Find collision free path.
Implements rl::plan::Planner.
Reimplemented in rl::plan::RrtExtExt, rl::plan::RrtExtCon, rl::plan::RrtDual, rl::plan::RrtConCon, rl::plan::RrtCon, rl::plan::Eet, and rl::plan::AddRrtConCon.
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::rl::math::Real rl::plan::Rrt::delta |
Configuration step size.
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::rl::math::Real rl::plan::Rrt::epsilon |
Epsilon for configuration comparison.
bool rl::plan::Rrt::kd |
Use kd-tree for nearest neighbor search instead of brute-force.
Sampler* rl::plan::Rrt::sampler |
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