#include <PathPlanner.h>
Public Member Functions | |
| RRT () | |
| Default consturctor. | |
| RRT (RRTparams params) | |
| RRT (RRTparams params, Pose qStart, Pose qGoal, ExplorationNode *expNode) | |
| Paramtric consturctor. | |
| RRT (const RRT &rrt) | |
| Copy constructor. | |
| RRT & | operator= (const RRT &rrt) |
| Operator =. | |
| void | initializeTree () |
| Create the tree, the Adjacency and Weights Matrices for RRT algorithm. | |
| void | findQrand () |
| Chooses a random configutìration or the goal configuration for the RRT algorithm. | |
| Decimal | CSpaceDist (Pose q1, Pose q2) |
| Computes the distance between two configuration in the SO manifold. | |
| void | findQnear () |
| Finds the node of the tree nearest to _qRand. | |
| PrimitivesType | findQnew () |
| bool | isCollisionFree (RRTnode node, Grid *grid) |
| void | update () |
| bool | buildRRT (vector< Path * > &path, int &complIter) |
| Builds the Rapidly-exploring Random Tree. | |
| bool | buildRRT2 (vector< Path * > &path, vector< Path * > &tree, int &complIter) |
| Builds the Rapidly-exploring Random Tree. | |
| RRTparams | params () |
| Gets the _params parameter. | |
| Pose | qStart () |
| Gets the _qStart parameter. | |
| Pose | qGoal () |
| Gets the _qGoal parameter. | |
| Pose | qRand () |
| Gets the _qRand parameter. | |
| ExplorationNode * | expNode () |
| Gets the _grid parameter. | |
| void | setParams (RRTparams value) |
| Sets the _params parameter. | |
| void | setQStart (Pose value) |
| Sets the _qStart parameter. | |
| void | setQGoal (Pose value) |
| Sets the _qGoal parameter. | |
| void | setQRand (Pose value) |
| Sets the _qRand parameter. | |
| void | setExpNode (ExplorationNode *value) |
| Sets the _grid parameter. | |
| string | print () |
| Prints on the screen all class parametes. | |
Public Attributes | |
| RRTparams | _params |
| Pose | _qStart |
| Pose | _qGoal |
| Pose | _qRand |
| Pose | _qNear |
| RRTnode | _tempNode |
| ExplorationNode * | _expNode |
| vector< RRTnode > | _tree |
| vector< int > | _sortedByDistance |
| Decimal | radius |
| Decimal | lenght |
| Timer | timer |
| Cell * | _goalCell |
| int | _nearest |
| Pose | _nearestPose |
| int | selPrim |
| vector< int > | _pathNodes |
1.5.6