rl::plan::RrtConCon Class Reference

RRT-Connect2. More...

#include <RrtConCon.h>

Inheritance diagram for rl::plan::RrtConCon:

Public Member Functions
	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...

Additional Inherited Members
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 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 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)
Static Protected Member Functions inherited from rl::plan::Rrt
static VertexBundle *	get (const Tree &tree, const Vertex &v)
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

RRT-Connect2.

James J. Kuffner, Jr. and Steven M. LaValle. RRT-connect: An efficient approach to single-query path planning. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 995-1001, April 2000.

http://dx.doi.org/10.1109/ROBOT.2000.844730

Constructor & Destructor Documentation

RrtConCon()

rl::plan::RrtConCon::RrtConCon

(

)

~RrtConCon()

rl::plan::RrtConCon::~RrtConCon ( )

virtual

Member Function Documentation

getName()

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

virtual

Reimplemented from rl::plan::Rrt.

solve()

bool rl::plan::RrtConCon::solve ( )

virtual

Find collision free path.

Reimplemented from rl::plan::RrtDual.

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

• rl/plan/RrtConCon.h
• rl/plan/RrtConCon.cpp