The PRT (Probabilistic Roadmap of Trees) planner. More...

#include <PRT.h>

Public Types
typedef Graph::Tree< Config, EdgePlanner >	Node

Public Member Functions
virtual void	Cleanup ()

virtual void	Seed ()

virtual void	AddAndGrowTree (const Config &x)

virtual void	Expand ()

virtual bool	ConnectTrees (int i, int j)

Public Attributes
Graph::Graph< Tree, TreeEdge >	treeGraph

int	numSeedTrees
	these flags govern the number of seeded trees and their size

int	seedTreeSize

int	numClosestTreesToConnect
	these flags govern the choice of trees to connect per expansion operation

int	numRandomTreesToConnect

int	numStraightLineAttempts

int	numSingleQueryIterations

Detailed Description

The PRT (Probabilistic Roadmap of Trees) planner.

Sometimes called SRT (Sampling-Based Roadmap of Trees).

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

Classes