1 #ifndef ROBOTICS_SBL_TREE_H 2 #define ROBOTICS_SBL_TREE_H 4 #include <KrisLibrary/graph/Tree.h> 5 #include <KrisLibrary/geometry/GridSubdivision.h> 6 #include <KrisLibrary/utils/ArrayMapping.h> 9 #include "EdgePlanner.h" 10 #include "DensityEstimator.h" 29 virtual void Cleanup();
30 virtual void Init(
const Config& qStart);
31 virtual Node* Extend(Real maxDistance,
int maxIters);
33 virtual void AddMilestone(Node* n) {}
34 virtual void RemoveMilestone(Node* n) {}
35 virtual Node* PickExpand();
38 Node* AddMilestone(
const Config& q) { Node* n=
new Node(q); AddMilestone(n);
return n; }
39 bool HasNode(Node* n)
const;
40 Node* AddChild(Node* n,
const Config& x);
41 Node* FindClosest(
const Config& x);
42 void AdjustMilestone(Node* n,
const Config& newConfig);
43 void DeleteSubtree(Node* n);
46 static bool CheckPath(
SBLTree* ts, Node* ns,
SBLTree* tg,Node* ng,std::list<EdgeInfo>& outputPath);
61 virtual void Cleanup();
62 virtual void AddMilestone(
Node* n);
63 virtual void RemoveMilestone(
Node* n);
64 virtual Node* PickExpand() {
return PickRandom(); }
65 Node* PickRandom()
const;
67 std::vector<Node*> index;
78 virtual void Init(
const Config& qStart);
79 virtual void Cleanup();
82 void InitDefaultGrid(
int numDims,Real h);
84 void RandomizeSubset();
86 virtual void AddMilestone(
Node* n);
87 virtual void RemoveMilestone(
Node* n);
88 virtual Node* PickExpand();
An SBLTree with a node index.
Definition: SBLTree.h:57
Vector Config
an alias for Vector
Definition: RobotKinematics3D.h:14
Motion planning configuration space base class. The configuration space implements an interpolation s...
Definition: CSpace.h:39
A sequence of locally planned paths between milestones.
Definition: planning/Path.h:18
An SBL motion planner that uses a SBLSubdivision to pick the next node to expand, and nodes to connec...
Definition: SBLTree.h:74
A tree graph structure, represented directly at the node level.
Definition: Tree.h:25
A tree of configurations to be used in the SBL motion planner.
Definition: SBLTree.h:16
A grid-based (n-d projected histogram) density estimator.
Definition: DensityEstimator.h:43