RRTQToQPlanner Class Reference

Rapidly Expanding Random Tree based planners for the QToQPlanner type of planning problem. More...

#include <RRTQToQPlanner.hpp>

Public Member Functions
	RRTQToQPlanner (const RRTQToQPlanner &)=delete
RRTQToQPlanner &	operator= (const RRTQToQPlanner &)=delete

Static Public Member Functions
static rw::pathplanning::QToQPlanner::Ptr	makeBasic (const rw::pathplanning::PlannerConstraint &constraint, const rw::core::Ptr< rw::pathplanning::QSampler > &sampler, const rw::math::QMetric::CPtr &metric, double extend)
	Basic RRT planner. More...
static rw::pathplanning::QToQPlanner::Ptr	makeConnect (const rw::pathplanning::PlannerConstraint &constraint, const rw::core::Ptr< rw::pathplanning::QSampler > &sampler, const rw::math::QMetric::CPtr &metric, double extend)
	RRT-Connect planner. More...
static rw::pathplanning::QToQPlanner::Ptr	makeBidirectional (const rw::pathplanning::PlannerConstraint &constraint, const rw::core::Ptr< rw::pathplanning::QSampler > &sampler, const rw::math::QMetric::CPtr &metric, double extend)
	Bidirectional RRT planner. More...
static rw::pathplanning::QToQPlanner::Ptr	makeBalancedBidirectional (const rw::pathplanning::PlannerConstraint &constraint, const rw::core::Ptr< rw::pathplanning::QSampler > &sampler, const rw::math::QMetric::CPtr &metric, double extend)
	Balanced, bidirectional RRT planner. More...

Detailed Description

Rapidly Expanding Random Tree based planners for the QToQPlanner type of planning problem.

Member Function Documentation

makeBalancedBidirectional()

static rw::pathplanning::QToQPlanner::Ptr makeBalancedBidirectional ( const rw::pathplanning::PlannerConstraint &  constraint, const rw::core::Ptr< rw::pathplanning::QSampler > &  sampler, const rw::math::QMetric::CPtr &  metric, double  extend  )

static

Balanced, bidirectional RRT planner.

The algorithm of the planner is in the style of RDT_BALANCED_BIDIRECTIONAL(), page 195 of Steven M. Lavalle, "Planning Algorithms", 2006.

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.

makeBasic()

static rw::pathplanning::QToQPlanner::Ptr makeBasic ( const rw::pathplanning::PlannerConstraint &  constraint, const rw::core::Ptr< rw::pathplanning::QSampler > &  sampler, const rw::math::QMetric::CPtr &  metric, double  extend  )

static

Basic RRT planner.

This planner implements BasicPlanner(), page 109 of James J. Kuffner, "Autonomous Agensts for Real-Time Animation", 1999.

The basic version of the planner is a very slow.

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.

makeBidirectional()

static rw::pathplanning::QToQPlanner::Ptr makeBidirectional ( const rw::pathplanning::PlannerConstraint &  constraint, const rw::core::Ptr< rw::pathplanning::QSampler > &  sampler, const rw::math::QMetric::CPtr &  metric, double  extend  )

static

Bidirectional RRT planner.

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.

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.

makeConnect()

static rw::pathplanning::QToQPlanner::Ptr makeConnect ( const rw::pathplanning::PlannerConstraint &  constraint, const rw::core::Ptr< rw::pathplanning::QSampler > &  sampler, const rw::math::QMetric::CPtr &  metric, double  extend  )

static

RRT-Connect planner.

Bidirectional RRT planner in the style of James J. Kuffner and Steven M. LaValle, "RRT-Connect: An Efficient Approach to Single-Query Path Planning", ICRA, 2000.

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.

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

• RRTQToQPlanner.hpp