doc/planners/_r_r_m_8hpp_source.html

 //

 //  RRM.hpp

 //  libmove3d-motion

 //

 //  Created by Jim Mainprice on 21/02/12.

 //  Copyright (c) 2012 LAAS-CNRS. All rights reserved.

 //


 #ifndef RRM_HPP_

 #define RRM_HPP_


 #include "planner/PRM/PRM.hpp"


 #include "API/Trajectory/trajectory.hpp"


 class RRM : public PRM

 {

 public:

         RRM(Robot* R, Graph* G);


         ~RRM();


         virtual void expandOneStep();


 protected:


   confPtr_t m_qi;

   confPtr_t m_qf;

 };


 #endif

RRM::~RRM
~RRM()
Deletes a perturbation planner.

PRM
Classe représentant l'algorithme PRM.
Definition: PRM.hpp:12

Graph
Definition: graph.hpp:28

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

RRM::expandOneStep
virtual void expandOneStep()
Adds nodes to Graph.

RRM::RRM
RRM(Robot *R, Graph *G)
  Creates a perturbation roadmap from a given robot   and a given graph

RRM
Definition: RRM.hpp:16