rl::plan::Rrt Class Reference

Rapidly-Exploring Random Trees. More...

#include <Rrt.h>

Inheritance diagram for rl::plan::Rrt:

Classes
struct	TreeBundle
struct	VertexBundle

Public Member Functions
	Rrt (const ::std::size_t &trees=1)
virtual	~Rrt ()
virtual ::std::string	getName () const
NearestNeighbors *	getNearestNeighbors (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	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 Types
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 Member Functions
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)

Static Protected Member Functions
static VertexBundle *	get (const Tree &tree, const Vertex &v)

Protected Attributes
::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

Rapidly-Exploring Random Trees.

Steven M. LaValle. Rapidly-exploring random trees: A new tool for path planning. Technical Report TR 98-11, Iowa State University, Ames, IA, USA, October 1998.

http://msl.cs.uiuc.edu/~lavalle/papers/Lav98c.pdf

Member Typedef Documentation

Edge

typedef ::boost::graph_traits<Tree>::edge_descriptor rl::plan::Rrt::Edge

protected

EdgeIterator

typedef ::boost::graph_traits<Tree>::edge_iterator rl::plan::Rrt::EdgeIterator

protected

EdgeIteratorPair

typedef ::std::pair<EdgeIterator, EdgeIterator> rl::plan::Rrt::EdgeIteratorPair

protected

Neighbor

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

protected

Tree

typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::std::shared_ptr<VertexBundle>, ::boost::no_property, TreeBundle > rl::plan::Rrt::Tree

protected

Vertex

typedef ::boost::adjacency_list_traits< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::listS >::vertex_descriptor rl::plan::Rrt::Vertex

protected

VertexIterator

typedef ::boost::graph_traits<Tree>::vertex_iterator rl::plan::Rrt::VertexIterator

protected

VertexIteratorPair

typedef ::std::pair<VertexIterator, VertexIterator> rl::plan::Rrt::VertexIteratorPair

protected

Constructor & Destructor Documentation

Rrt()

rl::plan::Rrt::Rrt

(

const ::std::size_t &

trees = 1

)

~Rrt()

rl::plan::Rrt::~Rrt ( )

virtual

Member Function Documentation

addEdge()

Rrt::Edge rl::plan::Rrt::addEdge ( const Vertex &  u, const Vertex &  v, Tree &  tree  )

protectedvirtual

Reimplemented in rl::plan::Eet.

addVertex()

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

protectedvirtual

Reimplemented in rl::plan::Eet, and rl::plan::AddRrtConCon.

areEqual()

bool rl::plan::Rrt::areEqual ( const ::rl::math::Vector &  lhs, const ::rl::math::Vector &  rhs  ) const

protected

choose()

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

protected

connect()

Rrt::Vertex rl::plan::Rrt::connect ( Tree &  tree, const Neighbor &  nearest, const ::rl::math::Vector &  chosen  )

protectedvirtual

extend()

Rrt::Vertex rl::plan::Rrt::extend ( Tree &  tree, const Neighbor &  nearest, const ::rl::math::Vector &  chosen  )

protectedvirtual

get()

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

staticprotected

getName()

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

virtual

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.

getNearestNeighbors()

NearestNeighbors * rl::plan::Rrt::getNearestNeighbors

(

const ::std::size_t &

i

)

const

getNumEdges()

std::size_t rl::plan::Rrt::getNumEdges

(

)

const

getNumVertices()

std::size_t rl::plan::Rrt::getNumVertices

(

)

const

getPath()

VectorList rl::plan::Rrt::getPath ( )

virtual

Get solution path.

Precondition

solve()

Implements rl::plan::Planner.

Reimplemented in rl::plan::RrtDual, and rl::plan::Eet.

nearest()

Rrt::Neighbor rl::plan::Rrt::nearest ( const Tree &  tree, const ::rl::math::Vector &  chosen  )

protectedvirtual

reset()

void rl::plan::Rrt::reset ( )

virtual

Reset planner.

Implements rl::plan::Planner.

Reimplemented in rl::plan::Eet.

setNearestNeighbors()

void rl::plan::Rrt::setNearestNeighbors	(	NearestNeighbors *	nearestNeighbors,
		const ::std::size_t &	i
	)

solve()

bool rl::plan::Rrt::solve ( )

virtual

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.

Member Data Documentation

begin

::std::vector<Vertex> rl::plan::Rrt::begin

protected

delta

::rl::math::Real rl::plan::Rrt::delta

Configuration step size.

end

::std::vector<Vertex> rl::plan::Rrt::end

protected

epsilon

::rl::math::Real rl::plan::Rrt::epsilon

Epsilon for configuration comparison.

sampler

Sampler* rl::plan::Rrt::sampler

tree

::std::vector<Tree> rl::plan::Rrt::tree

protected

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

• rl/plan/Rrt.h
• rl/plan/Rrt.cpp