Adaptive Dynamic-Domain RRT. More...

#include <AddRrtConCon.h>

Inheritance diagram for rl::plan::AddRrtConCon:

[legend]

Classes
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 ()

NearestNeighbors *	getNearestNeighbors (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...

Sampler *	sampler

Public Attributes inherited from rl::plan::Planner
::std::chrono::steady_clock::duration	duration
	Upper bound for search. More...

::rl::math::Vector *	goal
	Goal configuration. More...

SimpleModel *	model

::rl::math::Vector *	start
	Start configuration. More...

Viewer *	viewer

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 VertexBundle *	get (const Tree &tree, const Vertex &v)

Static Protected Member Functions inherited from rl::plan::Rrt
static VertexBundle *	get (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, TreeBundle >	Tree

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, EdgeIterator >	EdgeIteratorPair

typedef ::std::pair< ::rl::math::Real, Vertex >	Neighbor

typedef ::boost::graph_traits< Tree >::vertex_iterator	VertexIterator

typedef ::std::pair< VertexIterator, VertexIterator >	VertexIteratorPair

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
::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.

http://dx.doi.org/10.1109/IROS.2005.1545607

Constructor & Destructor Documentation

◆ AddRrtConCon()

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

◆ ~AddRrtConCon()

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

virtual

Member Function Documentation

◆ addVertex()

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

protectedvirtual

Reimplemented from rl::plan::Rrt.

◆ get()

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

staticprotected

◆ 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.

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

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

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AddRrtConCon()

◆ ~AddRrtConCon()

Member Function Documentation

◆ addVertex()

◆ get()

◆ getName()

◆ solve()

Member Data Documentation

◆ alpha

◆ lower

◆ radius