An SBL planner whose trees use grids for point location. More...

#include <SBL.h>

Inheritance diagram for SBLPlannerWithGrid:

Public Member Functions
	SBLPlannerWithGrid (CSpace *)

virtual void	Cleanup ()

virtual void	Init (const Config &qStart, const Config &qGoal)

virtual bool	Extend ()

virtual Node *	PickConnection (SBLTree *t, const Config &x)

void	RandomizeSubset ()

Public Member Functions inherited from SBLPlanner
	SBLPlanner (CSpace *)

bool	IsDone () const

void	CreatePath (MilestonePath &path) const

bool	CheckPath (Node nStart, Node nGoal)

Public Attributes
int	numItersPerRandomize

Real	gridDivision

Public Attributes inherited from SBLPlanner
CSpace *	space

Real	maxExtendDistance

int	maxExtendIters

Real	edgeConnectionThreshold

int	numIters

SBLTree *	tStart

SBLTree *	tGoal

std::list< EdgeInfo >	outputPath

Additional Inherited Members
Public Types inherited from SBLPlanner
typedef SBLTree::Node	Node

typedef SBLTree::EdgeInfo	EdgeInfo

Detailed Description

An SBL planner whose trees use grids for point location.

Every numItersPerRandomize Extend() iterations, the grid dimensions are randomized. They use a 3-d grid with division gridDivision.

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

Public Member Functions