RRT based planners. More...

#include <RRTPlanner.hpp>

Public Types
enum	PlannerType { RRTBasic , RRTConnect , RRTBidirectional , RRTBalancedBidirectional }
	The type of RRT planner to construct. More...

typedef rw::core::Ptr< RRTPlanner >	Ptr
	Smart pointer type for a RRTPlanner.

typedef rw::core::Ptr< const RRTPlanner >	CPtr
	Smart pointer type for a const RRTPlanner.

Public Member Functions
	RRTPlanner (const RRTPlanner &)=delete

RRTPlanner &	operator= (const RRTPlanner &)=delete

Static Public Member Functions
static rw::pathplanning::QToQPlanner::Ptr	makeQToQPlanner (const rw::pathplanning::PlannerConstraint &constraint, const rw::core::Ptr< rw::pathplanning::QSampler > &sampler, const rw::math::QMetric::CPtr &metric, double extend, PlannerType type=RRTBalancedBidirectional)
	RRT based point-to-point planner. More...

static rw::pathplanning::QToQPlanner::Ptr	makeQToQPlanner (const rw::pathplanning::PlannerConstraint &constraint, const rw::core::Ptr< rw::models::Device > &device, PlannerType type=RRTBalancedBidirectional)
	RRT based point-to-point planner. More...

Detailed Description

RRT based planners.

Member Enumeration Documentation

The type of RRT planner to construct.

Enumerator
RRTBasic	Simple non-greedy, bidirectional RRT. See BasicPlanner(), page 109 of James J. Kuffner, "Autonomous Agensts for Real-Time Animation", 1999.
RRTConnect	RRT-Connect planner. See James J. Kuffner and Steven M. LaValle, "RRT-Connect: An Efficient Approach to Single-Query Path Planning", ICRA, 2000.
RRTBidirectional	Bidirectional RRT. The algorithm of the planner is in the style of RDT_BALANCED_BIDIRECTIONAL(), page 195 of Steven M. Lavalle, "Planning Algorithms", 2006, except this planner is the non-balanced version.
RRTBalancedBidirectional	Balanced, bidirectional RRT. The algorithm of the planner is in the style of RDT_BALANCED_BIDIRECTIONAL(), page 195 of Steven M. Lavalle, "Planning Algorithms", 2006.

static rw::pathplanning::QToQPlanner::Ptr makeQToQPlanner	(	const rw::pathplanning::PlannerConstraint &	constraint,
		const rw::core::Ptr< rw::models::Device > &	device,
		PlannerType	type = `RRTBalancedBidirectional`
	)

static

RRT based point-to-point planner.

Default configuration space sampling strategy (rw::pathplanning::QSampler) and distance metrics (rw:math::QMetric) are chosen based on device.

Parameters

constraint	[in] Constraint for configurations and edges.
device	[in] Device for which the path is planned.
type	[in] The particular variation the RRT planner algorithm.

static rw::pathplanning::QToQPlanner::Ptr makeQToQPlanner	(	const rw::pathplanning::PlannerConstraint &	constraint,
		const rw::core::Ptr< rw::pathplanning::QSampler > &	sampler,
		const rw::math::QMetric::CPtr &	metric,
		double	extend,
		PlannerType	type = `RRTBalancedBidirectional`
	)

static

RRT based point-to-point planner.

Parameters

constraint	[in] Constraint for configurations and edges.
sampler	[in] Sampler of the configuration space.
metric	[in] Metric for nearest neighbor search.
extend	[in] Distance measured by metric by which to extend the tree towards an attractor configuration.
type	[in] The particular variation the RRT planner algorithm.

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