Expansion procedure of the Rapidly-exploring Random Tree (RRT) algorithm. More...

#include <RRT.hpp>

Inheritance diagram for RRTExpansion:

Public Member Functions
	RRTExpansion (Graph *graph)
	Constructor.

virtual	~RRTExpansion ()
	Destructor.

virtual unsigned	extend (Node fromNode, confPtr_t directionConf, Node directionNode)
	RRT Extend. More...

virtual unsigned	connect (Node fromNode, confPtr_t directionConf, Node directionNode)
	RRT Connect. More...

virtual bool	isValidConnection (localPathPtr_t path)
	Check whether the given path is a valid connection. More...

virtual bool	addCycles ()
	Try to add cycles to the graph. More...

virtual bool	addCycles1 ()

virtual bool	addCycles2 ()

virtual bool	addCycles3 ()

Public Member Functions inherited from TreeExpansion
	TreeExpansion (Graph *graph)
	Constructor.

virtual	~TreeExpansion ()
	Destructor.

void	expansionSucceeded (Node *node)
	Actions to be done after the expansion attempted from the given node, in case of success.

void	expansionFailed (Node *node)
	Actions to be done after the expansion attempted from the given node, in case of failure.

Public Member Functions inherited from BaseExpansion
	BaseExpansion ()
	Constructor.

	BaseExpansion (Graph *prtGraph)

	~BaseExpansion ()
	Destructor.

void	setGraph (Graph *G)
	Set the graph that is beeing expanded.

Graph *	getGraph ()
	Get the graph that is beeing expanded.

int	getDirectionMethod ()
	Get Node Expansion Method.

void	setDirectionMethod (int directionExpansion)
	Set Expansion node Method.

int	getNodeMethod ()
	Get Node Expansion Method.

void	setNodeMethod (int nodeExpansion)
	Set Expansion node Method.

void	setFromComp (Node *fromComp)
	Set the From Connected Component.

Node *	getFromComp ()
	Get the From Connected Component.

void	setToComp (Node *toComp)
	Set the To Connected Component.

Node *	getToComp ()
	Get the To Connected Component.

double	step ()
	Expansion Step (Delta) More...

double	getDMax ()

double	computeInterpolationFactor (double pathLength)
	Compute the interpolation factor along the path, based on the extension step.

confPtr_t	interpolate (confPtr_t conf, LocalPath *path, double factor)
	Interpolation along the given path.

double	positionAlongPath (LocalPath &path, double param)
	Position on localpath in [0,1].

double	pathDelta (LocalPath &path)
	Return the path parameter that is the closest to step()

LocalPath	getExtensiontPath (std::tr1::shared_ptr< Configuration > qi, std::tr1::shared_ptr< Configuration > qf)
	Computes a localpath parameter used for expansion of at max step() of length. More...

void	expansionFailed (Node &node)
	Function called when a node can not be connected. More...

virtual Node *	addNode (Node currentNode, LocalPath &path, double pathDelta, Node directionNode, unsigned &nbCreatedNodes)
	Adds a node to a connected component. More...

bool	refinementControl (LocalPath &path, double rho, Node &compNode)
	Function that balances the ratio of exploration towards refinement.

bool	nextStep (LocalPath &path, std::tr1::shared_ptr< Configuration > &directionConfig, double &pathDelta, std::tr1::shared_ptr< LocalPath > &newPath, Env::expansionMethod method)
	Returns a valid configuration on the local path.

bool	nextStep (LocalPath &path, Node *directionNode, double &pathDelta, std::tr1::shared_ptr< LocalPath > &newPath, Env::expansionMethod method)
	Returns a valid configuration on the local path.

virtual Node *	getExpansionNode (Node *compNode, confPtr_t direction, int distance)
	Gets the nearest node in the graph. More...

std::tr1::shared_ptr < Configuration >	getExpansionDirection (Node expandComp, Node goalComp, bool samplePassive, Node *&directionNode)

Node *	getLasAddedNode ()
	Return last added node.

void	addConnectibleNode ()

unsigned int	getNbConnectibleNodes ()

Protected Member Functions
virtual Node *	addNode (localPathPtr_t path, Node fromNode, Node directionNode)
	Add a node to the graph, after an expansion that has produced the given path, starting from fromNode. More...

Additional Inherited Members
Protected Attributes inherited from BaseExpansion
int	m_ExpansionNodeMethod

int	m_MaxExpandNodeFailure

int	m_kNearestPercent

int	m_ExpansionDirectionMethod

bool	m_IsDirSampleWithRlg

Graph *	m_Graph

Node *	m_last_added_node

Node *	m_fromComp

Node *	m_toComp

unsigned int	_nbConnectibleNodes

Detailed Description

Expansion procedure of the Rapidly-exploring Random Tree (RRT) algorithm.

Member Function Documentation

bool RRTExpansion::addCycles ( )

virtual

Try to add cycles to the graph.

Returns: TRUE if at least one cycle has been added, and FALSE otherwise

Reimplemented in TransitionExpansion, and DirectedExpansion.

Node * RRTExpansion::addNode	(	localPathPtr_t	path,
		Node *	fromNode,
		Node *	directionNode
	)

protectedvirtual

Add a node to the graph, after an expansion that has produced the given path, starting from fromNode.

If the expansion has successfully reached the already existing node directionNode, directionNode is simply linked to fromNode. Otherwise, a new node containing the end configuration of the path is created and linked to fromNode.

Returns: the added node

Reimplemented in DirectedExpansion.

unsigned RRTExpansion::connect	(	Node *	fromNode,
		confPtr_t	directionConf,
		Node *	directionNode
	)

virtual

RRT Connect.

Parameters

fromNode	node from which the expansion is performed
directionConf	configuration toward which the expansion is going
directionNode	node toward which the expansion is going (when relevant)

Returns: the number of created nodes

Reimplemented in ThresholdExpansion, TransitionExpansion, and DirectedExpansion.

unsigned RRTExpansion::extend	(	Node *	fromNode,
		confPtr_t	directionConf,
		Node *	directionNode
	)

virtual

RRT Extend.

RRT Expansion

Parameters

fromNode	node from which the expansion is performed
directionConf	configuration toward which the expansion is going
directionNode	node toward which the expansion is going (when relevant)

Returns: the number of created nodes

RRT Extend.

Parameters

fromNode	node from which the expansion is performed
directionConf	configuration toward which the expansion is going
directionNode	node toward which the expansion is going (when relevant)

Returns: the number of created nodes

Reimplemented in ThresholdExpansion, TransitionExpansion, and DirectedExpansion.

virtual bool RRTExpansion::isValidConnection ( localPathPtr_t path )

inlinevirtual

Check whether the given path is a valid connection.

Returns: TRUE if the connection is valid, and FALSE otherwise

Reimplemented in TransitionExpansion.

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

Additional Inherited Members

Detailed Description

Member Function Documentation