mrpt::nav::RRT< POSE, MOTIONS > Class Template Reference

Detailed Description

template<class POSE, class MOTIONS>
class mrpt::nav::RRT< POSE, MOTIONS >

This class implement an header-only RRT algorithm for hybrid navigation.

Usage:

• write me

About the algorithm:

• write me

Changes history

• 06/MAR/2014: Creation (MB)

Definition at line 33 of file planner_rrt.h.

#include <mrpt/nav/planners/planner_rrt.h>

Public Member Functions
	RRT ()
void	setGoalBias (double goalBias)
	Constr. More...
double	getGoalBias ()
	Get the goal bias. More...
void	setLength (double maxLength)
	Set the max length of edges for RRT algorithm. More...
double	getLength ()
	Get the goal bias. More...
void	setup ()
	Setup operation befor the planner start. More...
void	plan ()
	Planning using RRT Algorithm as expressed in karaman-frazzoli 2011. More...

Public Attributes
double	goalBias_
	The goalBias_ is the probability to pick the target as the next random state. More...
double	maxLength_
	The max leght of edges. More...
mrpt::poses::CPose2D	start_pose
mrpt::poses::CPose2D	goal_pose

Constructor & Destructor Documentation

template<class POSE , class MOTIONS >

mrpt::nav::RRT< POSE, MOTIONS >::RRT ( )

inline

Definition at line 37 of file planner_rrt.h.

References mrpt::nav::RRT< POSE, MOTIONS >::goalBias_, and mrpt::nav::RRT< POSE, MOTIONS >::maxLength_.

Member Function Documentation

template<class POSE , class MOTIONS >

double mrpt::nav::RRT< POSE, MOTIONS >::getGoalBias ( )

inline

Get the goal bias.

Definition at line 51 of file planner_rrt.h.

References mrpt::nav::RRT< POSE, MOTIONS >::goalBias_.

template<class POSE , class MOTIONS >

double mrpt::nav::RRT< POSE, MOTIONS >::getLength ( )

inline

Get the goal bias.

Definition at line 57 of file planner_rrt.h.

References mrpt::nav::RRT< POSE, MOTIONS >::maxLength_.

template<class POSE , class MOTIONS >

void mrpt::nav::RRT< POSE, MOTIONS >::plan

(

)

Planning using RRT Algorithm as expressed in karaman-frazzoli 2011.

1. V <– {x_init}; E<-0
2. for i=1, ... n do
3. x_ran <– SampleFree_i
4. x_nearest <– Nearest (G=(V,E), x_rand)
5. x_new <– Steer (x_nearest, x_rand)
6. if ObstacleFree (x_nearest, x_new) then
7. V <– V U {x_new}; E <–E U {(x_nearest, x_new)}
8. return (G= (V,E)

template<class POSE , class MOTIONS >

void mrpt::nav::RRT< POSE, MOTIONS >::setGoalBias ( double  goalBias )

inline

Constr.

Set the goal bias

Definition at line 48 of file planner_rrt.h.

References mrpt::nav::RRT< POSE, MOTIONS >::goalBias_.

template<class POSE , class MOTIONS >

void mrpt::nav::RRT< POSE, MOTIONS >::setLength ( double  maxLength )

inline

Set the max length of edges for RRT algorithm.

Definition at line 54 of file planner_rrt.h.

References mrpt::nav::RRT< POSE, MOTIONS >::maxLength_.

template<class POSE , class MOTIONS >

void mrpt::nav::RRT< POSE, MOTIONS >::setup

(

)

Setup operation befor the planner start.

Member Data Documentation

template<class POSE , class MOTIONS >

mrpt::poses::CPose2D mrpt::nav::RRT< POSE, MOTIONS >::goal_pose

Definition at line 91 of file planner_rrt.h.

template<class POSE , class MOTIONS >

double mrpt::nav::RRT< POSE, MOTIONS >::goalBias_

The goalBias_ is the probability to pick the target as the next random state.

Definition at line 85 of file planner_rrt.h.

Referenced by mrpt::nav::RRT< POSE, MOTIONS >::getGoalBias(), mrpt::nav::RRT< POSE, MOTIONS >::RRT(), and mrpt::nav::RRT< POSE, MOTIONS >::setGoalBias().

template<class POSE , class MOTIONS >

double mrpt::nav::RRT< POSE, MOTIONS >::maxLength_

The max leght of edges.

Definition at line 88 of file planner_rrt.h.

Referenced by mrpt::nav::RRT< POSE, MOTIONS >::getLength(), mrpt::nav::RRT< POSE, MOTIONS >::RRT(), and mrpt::nav::RRT< POSE, MOTIONS >::setLength().

template<class POSE , class MOTIONS >

mrpt::poses::CPose2D mrpt::nav::RRT< POSE, MOTIONS >::start_pose

Definition at line 90 of file planner_rrt.h.