doc/planners/_multi-_t-_r_r_t_8hpp_source.html

 /*

  * Multi-T-RRT.hpp

  *

  *  Created on: Nov 29, 2012

  *      Author: ddevaurs

  */


 #ifndef _MULTI_T_RRT_HPP_

 #define _MULTI_T_RRT_HPP_


 #include "planner/Diffusion/Variants/Multi-RRT.hpp"

 #include "planner/Diffusion/Variants/Transition-RRT.hpp"


 class MultiTRRT: public MultiRRT

 {

 public:

         MultiTRRT(Robot * robot, Graph * graph) : MultiRRT(robot, graph) {

                 std::cout << "Construct the Multi-T-RRT" << std::endl;

         }


         virtual ~MultiTRRT() {};


         unsigned init() {

                 this->loadWaypoints();

                 expansion = new TransitionExpansion(_Graph);

                 return TreePlanner::init();

         }

 };


 #endif

Planner::_Graph
Graph * _Graph
Le Graph qui va être utilisé
Definition: planner.hpp:175

MultiRRT::loadWaypoints
void loadWaypoints()
Load the user-defined waypoints (start, goal, and potential intermediate waypoints).
Definition: Multi-RRT.cpp:185

RRT::expansion
RRTExpansion * expansion
access point to the expansion procedure of RRT
Definition: RRT.hpp:138

Graph
Definition: graph.hpp:28

Robot
This class holds a the robot represented by a kinematic chain.
Definition: robot.hpp:42

MultiTRRT::~MultiTRRT
virtual ~MultiTRRT()
Destructor.
Definition: Multi-T-RRT.hpp:27

TreePlanner::init
virtual unsigned init()
Initializes Planner.
Definition: TreePlanner.cpp:70

MultiTRRT::MultiTRRT
MultiTRRT(Robot *robot, Graph *graph)
Constructor.
Definition: Multi-T-RRT.hpp:22

TransitionExpansion
Expansion procedure of the Transition-based RRT (T-RRT) algorithm.
Definition: Transition-RRT.hpp:17

MultiTRRT::init
unsigned init()
Initialize the Multi-T-RRT.
Definition: Multi-T-RRT.hpp:33

MultiTRRT
The Multi-T-RRT algorithm.
Definition: Multi-T-RRT.hpp:18

MultiRRT
A Multiple-tree variant of the RRT algorithm: Multi-RRT.
Definition: Multi-RRT.hpp:17