The Rapidly-exploring Random Tree (RRT) algorithm. More...

#include <RRT.hpp>

Inheritance diagram for RRT:

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

virtual	~RRT ()
	Destructor.

virtual unsigned	init ()
	Initialize RRT. More...

virtual unsigned	run ()
	Main function of RRT. More...

virtual bool	trajFound ()
	Check whether RRT has found a trajectory in the graph it is building. More...

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
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...

virtual API::Trajectory *	extractTrajectory ()
	Extract a trajectory from Start to Goal.

Protected Attributes
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

The Rapidly-exploring Random Tree (RRT) algorithm.

Member Function Documentation

bool RRT::checkStopConditions ( )

protectedvirtual

Check the stopping conditions of RRT.

Returns: TRUE if one of the conditions is satisfied, and FALSE otherwise

Reimplemented from TreePlanner.

Reimplemented in StarRRT, and DirectedRRT.

unsigned RRT::expandOneStep ( ConnectedComponent * fromComp )

protectedvirtual

Perform a single expansion step of RRT, growing the given connected component.

Returns: the number of created nodes

Reimplemented in DirectedRRT, and ManhattanLikeRRT.

virtual unsigned RRT::init ( void )

inlinevirtual

Initialize RRT.

Returns: the number of nodes added to the graph

Reimplemented from TreePlanner.

Reimplemented in TransitionEdgeRRT, TransitionRRT, ThresholdRRT, StarRRT, DirectedRRT, MultiTRRT, MultiThresholdRRT, MultiRRT, HRICS_RRT, and HRICS_RRTPlan.

unsigned RRT::run ( )

virtual

Main function of RRT.

RRT

Returns: the number of nodes added to the graph

Main function of RRT.

Returns: the number of nodes added to the graph

Reimplemented from TreePlanner.

Reimplemented in DirectedRRT, and MultiRRT.

bool RRT::trajFound ( )

virtual

Check whether RRT has found a trajectory in the graph it is building.

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

Reimplemented from Planner.

Reimplemented in MultiRRT, and DirectedRRT.

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

src/planner/Diffusion/RRT.hpp
src/planner/Diffusion/RRT.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation