Robotics Library  0.6.0
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rl::plan::RrtGoalBias Class Reference

#include <RrtGoalBias.h>

Inheritance diagram for rl::plan::RrtGoalBias:
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Public Member Functions

 RrtGoalBias ()
 
virtual ~RrtGoalBias ()
 
virtual ::std::string getName () const
 
virtual void seed (const ::boost::mt19937::result_type &value)
 
- Public Member Functions inherited from rl::plan::Rrt
 Rrt (const ::std::size_t &trees=1)
 
virtual ~Rrt ()
 
virtual ::std::size_t getNumEdges () const
 
virtual ::std::size_t getNumVertices () const
 
virtual void getPath (VectorList &path)
 
virtual void reset ()
 
virtual bool solve ()
 
- Public Member Functions inherited from rl::plan::Planner
 Planner ()
 
virtual ~Planner ()
 
bool verify ()
 

Public Attributes

::rl::math::Real probability
 
- Public Attributes inherited from rl::plan::Rrt
::rl::math::Real delta
 
::rl::math::Real epsilon
 
bool kd
 
Samplersampler
 
- Public Attributes inherited from rl::plan::Planner
::rl::math::Real duration
 
::rl::math::Vectorgoal
 
SimpleModelmodel
 
::rl::math::Vectorstart
 
Viewerviewer
 

Protected Member Functions

virtual void choose (::rl::math::Vector &chosen)
 
- Protected Member Functions inherited from rl::plan::Rrt
virtual Edge addEdge (const Vertex &u, const Vertex &v, Tree &tree)
 
void addPoint (NearestNeighbors &nn, const QueryItem &p)
 
Vertex addVertex (Tree &tree, const VectorPtr &q)
 
bool areEqual (const ::rl::math::Vector &lhs, const ::rl::math::Vector &rhs) const
 
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)
 

Protected Attributes

::boost::variate_generator
< ::boost::mt19937,::boost::uniform_real
< ::rl::math::Real > > 
rand
 
- Protected Attributes inherited from rl::plan::Rrt
::std::vector< Vertexbegin
 
::std::vector< Vertexend
 
::std::vector< Treetree
 
- Protected Attributes inherited from rl::plan::Planner
::rl::util::Timer timer
 

Additional Inherited Members

- Protected Types inherited from rl::plan::Rrt
typedef
::boost::adjacency_list
< ::boost::listS,::boost::listS,::boost::bidirectionalS,
VertexBundle,::boost::no_property,
TreeBundle
Tree
 
typedef
::boost::adjacency_list_traits
< ::boost::listS,::boost::listS,::boost::bidirectionalS,::boost::listS >
::vertex_descriptor 
Vertex
 
typedef ::std::pair< const
::rl::math::Vector *, Vertex
QueryItem
 
typedef ::CGAL::Search_traits
< ::rl::math::Real, QueryItem,
const ::rl::math::Real
*, CartesianIterator
SearchTraits
 
typedef
Orthogonal_k_neighbor_search
< SearchTraits, Distance
NeighborSearch
 
typedef NeighborSearch::Tree NeighborSearchTree
 
typedef ::boost::shared_ptr
< NeighborSearchTree
NeighborSearchTreePtr
 
typedef ::std::vector
< NeighborSearchTreePtr
NearestNeighbors
 
typedef ::boost::graph_traits
< Tree >::edge_descriptor 
Edge
 
typedef ::boost::graph_traits
< Tree >::edge_iterator 
EdgeIterator
 
typedef ::std::pair
< EdgeIterator, EdgeIterator
EdgeIteratorPair
 
typedef ::boost::graph_traits
< Tree >::vertex_iterator 
VertexIterator
 
typedef ::std::pair
< VertexIterator,
VertexIterator
VertexIteratorPair
 
typedef ::std::pair< Vertex,::rl::math::RealNeighbor
 

Constructor & Destructor Documentation

rl::plan::RrtGoalBias::RrtGoalBias ( )
rl::plan::RrtGoalBias::~RrtGoalBias ( )
virtual

Member Function Documentation

void rl::plan::RrtGoalBias::choose ( ::rl::math::Vector chosen)
protectedvirtual

Reimplemented from rl::plan::Rrt.

std::string rl::plan::RrtGoalBias::getName ( ) const
virtual

Reimplemented from rl::plan::Rrt.

void rl::plan::RrtGoalBias::seed ( const ::boost::mt19937::result_type &  value)
virtual

Member Data Documentation

::rl::math::Real rl::plan::RrtGoalBias::probability

Probability of choosing goal configuration.

::boost::variate_generator< ::boost::mt19937, ::boost::uniform_real< ::rl::math::Real > > rl::plan::RrtGoalBias::rand
protected

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