A bidirectional RRT planner for kinodynamic systems. More...

Inheritance diagram for BidirectionalRRTKP:

Public Types
typedef KinodynamicTree::Node	Node

Public Member Functions
	BidirectionalRRTKP (KinodynamicSpace *s)

void	Init (const State &xStart, const State &xGoal)

virtual void	Init (const State &xinit, CSet *goalSet)

virtual bool	Plan (int maxIters)

virtual bool	Done () const

virtual bool	GetPath (KinodynamicMilestonePath &path)

Node *	ExtendStart ()

Node *	ExtendGoal ()

bool	ConnectTrees (Node nStart, Node nGoal)

virtual bool	PickControl (const State &x0, const State &xDest, KinodynamicMilestonePath &path)

virtual bool	PickReverseControl (const State &x1, const State &xDest, KinodynamicMilestonePath &path)

Public Member Functions inherited from KinodynamicPlannerBase
	KinodynamicPlannerBase (KinodynamicSpace *s)

virtual void	Init (const State &xinit, const State &xgoal, Real goalRadius)

virtual void	GetStats (PropertyMap &stats) const

Public Attributes
KinodynamicTree	start

KinodynamicTree	goal

Real	connectionTolerance

Bridge	bridge

Public Attributes inherited from KinodynamicPlannerBase
KinodynamicSpace *	space

CSet *	goalSet

Detailed Description

A bidirectional RRT planner for kinodynamic systems.

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

Classes