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

#include <RrtGoalBias.h>

Inheritance diagram for rl::plan::RrtGoalBias:
Inheritance graph

Public Member Functions

 RrtGoalBias ()
virtual ~RrtGoalBias ()
virtual ::std::string getName () const
virtual void seed (const ::std::mt19937::result_type &value)
- 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 VectorList getPath ()
 Get solution path. More...
virtual void reset ()
 Reset planner. More...
void setNearestNeighbors (NearestNeighbors *nearestNeighbors, const ::std::size_t &i)
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 probability
 Probability of choosing goal configuration. 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

virtual ::rl::math::Vector choose ()
::std::uniform_real_distribution< ::rl::math::Real >::result_type rand ()
- Protected Member Functions inherited from rl::plan::Rrt
virtual Edge addEdge (const Vertex &u, const Vertex &v, Tree &tree)
virtual Vertex addVertex (Tree &tree, const VectorPtr &q)
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)

Protected Attributes

::std::uniform_real_distribution< ::rl::math::RealrandDistribution
::std::mt19937 randEngine
- 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

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

Constructor & Destructor Documentation

◆ RrtGoalBias()

rl::plan::RrtGoalBias::RrtGoalBias ( )

◆ ~RrtGoalBias()

rl::plan::RrtGoalBias::~RrtGoalBias ( )

Member Function Documentation

◆ choose()

rl::math::Vector rl::plan::RrtGoalBias::choose ( )

◆ getName()

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

Reimplemented from rl::plan::Rrt.

◆ rand()

std::uniform_real_distribution<::rl::math::Real >::result_type rl::plan::RrtGoalBias::rand ( )

◆ seed()

void rl::plan::RrtGoalBias::seed ( const ::std::mt19937::result_type &  value)

Reimplemented in rl::plan::Eet.

Member Data Documentation

◆ probability

::rl::math::Real rl::plan::RrtGoalBias::probability

Probability of choosing goal configuration.

◆ randDistribution

::std::uniform_real_distribution< ::rl::math::Real> rl::plan::RrtGoalBias::randDistribution

◆ randEngine

::std::mt19937 rl::plan::RrtGoalBias::randEngine

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