Robotics Library  0.7.0
Classes | Public Member Functions | Public Attributes | Protected Member Functions | Static Protected Member Functions | List of all members
rl::plan::AddRrtConCon Class Reference

Adaptive Dynamic-Domain RRT. More...

#include <AddRrtConCon.h>

Inheritance diagram for rl::plan::AddRrtConCon:
Inheritance graph


struct  VertexBundle

Public Member Functions

 AddRrtConCon ()
virtual ~AddRrtConCon ()
virtual ::std::string getName () const
bool solve ()
 Find collision free path. More...
- Public Member Functions inherited from rl::plan::RrtConCon
 RrtConCon ()
virtual ~RrtConCon ()
virtual ::std::string getName () const
bool solve ()
 Find collision free path. More...
- Public Member Functions inherited from rl::plan::RrtDual
 RrtDual ()
virtual ~RrtDual ()
virtual ::std::string getName () const
virtual VectorList getPath ()
 Get solution path. More...
- Public Member Functions inherited from rl::plan::Rrt
 Rrt (const ::std::size_t &trees=1)
virtual ~Rrt ()
NearestNeighborsgetNearestNeighbors (const ::std::size_t &i) const
virtual ::std::size_t getNumEdges () const
virtual ::std::size_t getNumVertices () const
virtual void reset ()
 Reset planner. More...
void setNearestNeighbors (NearestNeighbors *nearestNeighbors, const ::std::size_t &i)
- 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 alpha
 Radius expansion factor. More...
::rl::math::Real lower
 Lower bound for radius. More...
::rl::math::Real radius
 Initial vertex radius. More...
- Public Attributes inherited from rl::plan::Rrt
::rl::math::Real delta
 Configuration step size. More...
::rl::math::Real epsilon
 Epsilon for configuration comparison. More...
- Public Attributes inherited from rl::plan::Planner
::std::chrono::steady_clock::duration duration
 Upper bound for search. More...
 Goal configuration. More...
 Start configuration. More...

Protected Member Functions

Vertex addVertex (Tree &tree, const VectorPtr &q)
- Protected Member Functions inherited from rl::plan::Rrt
virtual Edge addEdge (const Vertex &u, const Vertex &v, Tree &tree)
bool areEqual (const ::rl::math::Vector &lhs, const ::rl::math::Vector &rhs) const
virtual ::rl::math::Vector choose ()
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)

Static Protected Member Functions

static VertexBundleget (const Tree &tree, const Vertex &v)
- Static Protected Member Functions inherited from rl::plan::Rrt
static VertexBundleget (const Tree &tree, const Vertex &v)

Additional Inherited Members

- Protected Types inherited from rl::plan::Rrt
typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::std::shared_ptr< VertexBundle >, ::boost::no_property, TreeBundleTree
typedef ::boost::adjacency_list_traits< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::listS >::vertex_descriptor Vertex
typedef ::boost::graph_traits< Tree >::edge_descriptor Edge
typedef ::boost::graph_traits< Tree >::edge_iterator EdgeIterator
typedef ::std::pair< EdgeIterator, EdgeIteratorEdgeIteratorPair
typedef ::std::pair< ::rl::math::Real, VertexNeighbor
typedef ::boost::graph_traits< Tree >::vertex_iterator VertexIterator
typedef ::std::pair< VertexIterator, VertexIteratorVertexIteratorPair
- Protected Attributes inherited from rl::plan::Rrt
::std::vector< Vertexbegin
::std::vector< Vertexend
::std::vector< Treetree
- Protected Attributes inherited from rl::plan::Planner
::std::chrono::steady_clock::time_point time

Detailed Description

Adaptive Dynamic-Domain RRT.

Léonard Jaillet, Anna Yershova, Steven M. LaValle, and Thiery Siméon. Adaptive tuning of the sampling domain for dynamic-domain RRTs. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2851-2856, August 2005.

Constructor & Destructor Documentation

◆ AddRrtConCon()

rl::plan::AddRrtConCon::AddRrtConCon ( )

◆ ~AddRrtConCon()

rl::plan::AddRrtConCon::~AddRrtConCon ( )

Member Function Documentation

◆ addVertex()

Rrt::Vertex rl::plan::AddRrtConCon::addVertex ( Tree tree,
const VectorPtr q 

Reimplemented from rl::plan::Rrt.

◆ get()

AddRrtConCon::VertexBundle * rl::plan::AddRrtConCon::get ( const Tree tree,
const Vertex v 

◆ getName()

std::string rl::plan::AddRrtConCon::getName ( ) const

Implements rl::plan::Planner.

◆ solve()

bool rl::plan::AddRrtConCon::solve ( )

Find collision free path.

Reimplemented from rl::plan::RrtDual.

Member Data Documentation

◆ alpha

::rl::math::Real rl::plan::AddRrtConCon::alpha

Radius expansion factor.

◆ lower

::rl::math::Real rl::plan::AddRrtConCon::lower

Lower bound for radius.

◆ radius

::rl::math::Real rl::plan::AddRrtConCon::radius

Initial vertex radius.

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