A Multiple-tree variant of the RRT algorithm: Multi-RRT. More...

#include <Multi-RRT.hpp>

Inheritance diagram for MultiRRT:

Public Member Functions
	MultiRRT (Robot robot, Graph graph)
	Constructor.

virtual	~MultiRRT ()
	Destructor.

virtual unsigned	init ()
	Initialize the Multi-RRT. More...

unsigned	run ()
	Main function of the Multi-RRT. More...

bool	trajFound ()
	Check whether the Multi-RRT has found a trajectory. More...

API::Trajectory *	extractTrajectory (confPtr_t q_init, confPtr_t q_goal)
	Extract a trajectory going from one waypoints to another one.

Public Member Functions inherited from RRT
	RRT (Robot robot, Graph graph)
	Constructor.

virtual	~RRT ()
	Destructor.

void	addConnectibleNode ()

unsigned int	getNbConnectibleNodes ()

Public Member Functions inherited from TreePlanner
	TreePlanner (Robot R, Graph G)
	Constructor.

	~TreePlanner ()
	Destructor.

virtual bool	preConditions ()
	Checks out the Pre-conditions. More...

virtual bool	connectNodeToComp (Node N, Node CompNode)
	Tries to connect a node to the other connected component of the graph. More...

virtual bool	connectionToTheOtherCompco (Node *toNode)
	Main function to connect to the other Connected Component. More...

virtual unsigned int	expandOneStep (Node *fromComp)
	Expands tree from component fromComp. More...

bool	goalBias () const
	Decide whether the goal bias should be applied, based on a random trial. More...

double	getTime ()
	Return time in algorithm: this function must be called after ChronoTimeOfDayOn() More...

int	getRunId ()
	Get the run Id.

void	setRunId (int id)
	Set the run Id.

unsigned int	getNumberOfConsecutiveFail ()
	Return the number of consecutive failures observed during planification.

unsigned int	getNumberOfExpansion ()
	Return the number of expansions performed during planification.

unsigned int	getNumberOfFailedExpansion ()
	Return the number of expansion that failed during planification.

unsigned int	getNumberOfInitialNodes ()
	Return the initial number of nodes.

Node *	getLastNode ()
	Return the last node added to the graph.

double	getDistanceGap ()

Public Member Functions inherited from Planner
	Planner ()
	Plain Constructor of the class.

	Planner (Robot rob, Graph graph)
	Constructor of the class. More...

virtual	~Planner ()
	Destructeur de la classe.

Robot *	getActivRobot ()
	retourne le Robot activ More...

void	setRobot (Robot *R)
	place le Robot utilisé pour la planification More...

Graph *	getActivGraph ()
	obtient le Graph actif pour la planification More...

void	setGraph (Graph *G)
	modifie le Graph actif pour la planification More...

bool	setInit (confPtr_t Cs)
	place le Node initial de la planification More...

bool	setGoal (confPtr_t Cg)
	place le Node final de la planification More...

Node *	getInit ()
	obtient le Node intial de la planification More...

Node *	getGoal ()
	obtient le Node final de la planification More...

confPtr_t	getInitConf ()
	Get init configuration.

confPtr_t	getGoalConf ()
	Get goal configuration.

bool	getInitialized ()
	test si le Planner est initialisé pour la planification More...

void	setInitialized (bool b)
	modifie la valeur du Booleen de test d'initialisation More...

int	getRunId ()
	Get the run Id.

void	setRunId (int id)
	Set the run Id.

double	getTime ()
	return time in algorithm this function must be called after ChronoTimeOfDayOn() More...

void	chronoStart ()

void	chronoStop ()

void	chronoUpdate ()

Protected Member Functions
void	loadWaypoints ()
	Load the user-defined waypoints (start, goal, and potential intermediate waypoints).

Protected Member Functions inherited from RRT
virtual unsigned	expandOneStep (ConnectedComponent *fromComp)
	Perform a single expansion step of RRT, growing the given connected component. More...

bool	checkStopConditions ()
	Check the stopping conditions of RRT. More...

Protected Attributes
std::vector< confPtr_t >	waypoints
	waypoints through which the solution path should go

std::vector< Node * >	waypointNodes
	nodes containing the waypoints

Protected Attributes inherited from RRT
RRTExpansion *	expansion
	access point to the expansion procedure of RRT

std::vector< double >	trajCosts

Protected Attributes inherited from TreePlanner
int	m_runId

unsigned int	m_nbConscutiveFailures

unsigned int	m_nbExpansion

unsigned int	m_nbFailedExpansion

unsigned int	m_nbInitNodes

double	m_DistanceGap

Node *	m_last_node

Protected Attributes inherited from Planner
int(*	_stop_func )()

void(*	_draw_func )()

confPtr_t	_q_start

confPtr_t	_q_goal

Node *	_Start
	Le Node initial de la planification.

Node *	_Goal
	Le Node final de la planification.

Robot *	_Robot
	Le Robot pour lequel la recherche va se faire.

Graph *	_Graph
	Le Graph qui va être utilisé

bool	_Init
	Le Planner a été initialisé

bool	m_fail

int	m_runId

double	m_time

Detailed Description

A Multiple-tree variant of the RRT algorithm: Multi-RRT.

Member Function Documentation

virtual unsigned MultiRRT::init ( void )

inlinevirtual

Initialize the Multi-RRT.

Returns: the number of nodes added to the graph

Reimplemented from RRT.

Reimplemented in MultiTRRT, and MultiThresholdRRT.

unsigned MultiRRT::run ( )

virtual

Main function of the Multi-RRT.

Returns: the number of nodes added to the graph

Reimplemented from RRT.

bool MultiRRT::trajFound ( )

virtual

Check whether the Multi-RRT has found a trajectory.

Returns: TRUE if the criteria required for a trajectory to be found are met, and FALSE otherwise

Reimplemented from RRT.

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

src/planner/Diffusion/Variants/Multi-RRT.hpp
src/planner/Diffusion/Variants/Multi-RRT.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation