rl::plan::AddRrtConCon Class Reference

#include <AddRrtConCon.h>

Inheritance diagram for rl::plan::AddRrtConCon:

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 void	getPath (VectorList &path)
	Get solution path. More...
Public Member Functions inherited from rl::plan::Rrt
	Rrt (const ::std::size_t &trees=1)
virtual	~Rrt ()
virtual ::std::size_t	getNumEdges () const
virtual ::std::size_t	getNumVertices () const
virtual void	reset ()
	Reset planner. 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	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...
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

Additional Inherited Members
Protected Types inherited from rl::plan::Rrt
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 inherited from rl::plan::Rrt
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 inherited from rl::plan::Rrt
::std::vector< Vertex >	begin
::std::vector< Vertex >	end
::std::vector< Tree >	tree
Protected Attributes inherited from rl::plan::Planner
::rl::util::Timer	timer

Constructor & Destructor Documentation

AddRrtConCon()

rl::plan::AddRrtConCon::AddRrtConCon

(

)

~AddRrtConCon()

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

virtual

Member Function Documentation

getName()

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

virtual

Implements rl::plan::Planner.

solve()

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

virtual

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.

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

• rl/plan/AddRrtConCon.h
• rl/plan/AddRrtConCon.cpp