Robotics Library  0.6.0
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Public Member Functions | List of all members
rl::plan::RrtDual Class Reference

#include <RrtDual.h>

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

 RrtDual ()
virtual ~RrtDual ()
virtual ::std::string getName () const
virtual void getPath (VectorList &path)
virtual bool solve ()
- 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 reset ()
- Public Member Functions inherited from rl::plan::Planner
 Planner ()
virtual ~Planner ()
bool verify ()

Additional Inherited Members

- Public Attributes inherited from rl::plan::Rrt
::rl::math::Real delta
::rl::math::Real epsilon
bool kd
Samplersampler
- 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
- 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 void choose (::rl::math::Vector &chosen)
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 inherited from rl::plan::Rrt
::std::vector< Vertexbegin
::std::vector< Vertexend
::std::vector< Treetree

Constructor & Destructor Documentation

rl::plan::RrtDual::RrtDual ( )
rl::plan::RrtDual::~RrtDual ( )
virtual

Member Function Documentation

std::string rl::plan::RrtDual::getName ( ) const
virtual
void rl::plan::RrtDual::getPath ( VectorList path)
virtual

Get solution path.

Precondition
solve()

Reimplemented from rl::plan::Rrt.

bool rl::plan::RrtDual::solve ( )
virtual

Find collision free path.

Reimplemented from rl::plan::Rrt.

Reimplemented in rl::plan::AddRrtConCon, rl::plan::RrtConCon, rl::plan::RrtExtCon, and rl::plan::RrtExtExt.


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