smp::rrt< typeparams > Class Template Reference

RRT algorithm. More...

#include <rrt.h>

Inheritance diagram for smp::rrt< typeparams >:

List of all members.

Public Member Functions
	rrt (sampler_t &sampler_in, distance_evaluator_t &distance_evaluator_in, extender_t &extender_in, collision_checker_t &collision_checker_in, model_checker_t &model_checker_in)
	A constructor that initializes all components.
int	iteration ()
	A function call to initiate one iteration of the algorithm.

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Detailed Description

template<class typeparams>
class smp::rrt< typeparams >

RRT algorithm.

Provides an implementation of the RRT algorithm. Inherits from the generic incremental sampling-based motion planner, overriding the iteration function.

Examples:

libbot_rrt_double_integrator.cpp, libbot_rrt_dubins_car.cpp, libbot_rrt_dubins_double_integrator_airplane.cpp, libbot_rrt_single_integrator.cpp, standalone_rrt_double_integrator.cpp, standalone_rrt_dubins_car.cpp, standalone_rrt_dubins_double_integrator_airplane.cpp, and standalone_rrt_single_integrator.cpp.

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Constructor & Destructor Documentation

template<class typeparams >

smp::rrt< typeparams >::rrt	(	sampler_t &	sampler_in,
		distance_evaluator_t &	distance_evaluator_in,
		extender_t &	extender_in,
		collision_checker_t &	collision_checker_in,
		model_checker_t &	model_checker_in
	)

A constructor that initializes all components.

This is the recommended constructor that initializes all components all at once. It calls the corresponding constructor of the base class planner_incremental<typeparams> with the same arguments.

Parameters:

sampler_in	New sampler component.
distance_evaluator_in	New distance evaluator component.
extender_in	New extension function component.
collision_checker_in	New collision checker component.
model_checker_in	New model checker component.

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Member Function Documentation

template<class typeparams >

int smp::rrt< typeparams >::iteration

(

)

[virtual]

A function call to initiate one iteration of the algorithm.

Runs one iteration of the RRT algorithm which includes the following steps:

• get one sample state (using the sampler component)
• find the vertex in the graph that is nearest to the sample state (using the distance evaluator component)
• generate a trajectory that starts from the state stored in the nearest vertex and reaches exactly or approximately to the sample state (using the extension function component)
• check whether the new trajectory satsifies the conditions for being collision free (using the collision checker component).
• if the new trajectory is collision free, then add it into the graph and incrementally check whether the graph includes a trajectory that satisfies the termination requirement (using the model checker component).

Returns:

Returns 1 for success, and a non-positive number for failure.

Implements smp::planner_incremental< typeparams >.

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

• src/smp/planners/rrt.h