Class InformedRRTstar

• Defined in File InformedRRTstar.h

Inheritance Relationships

Base Type

• public ompl::geometric::RRTstar (Class RRTstar)

Derived Type

• public ompl::geometric::SORRTstar (Class SORRTstar)

Class Documentation

class InformedRRTstar : public ompl::geometric::RRTstar

Informed RRT*.

Run RRT* with an informed search strategy that uses heuristics to only consider subproblem that could provide a better solution. The search is limited to this subproblem by pruning the graph, generating samples only in this subproblem (directly if available, e.g., path length) and, when available, using the measure of this subproblem to calculate the connection terms (e.g., path length)

J. D. Gammell, T. D. Barfoot, S. S. Srinivasa, “Informed sampling for asymptotically optimal path planning.” IEEE Transactions on Robotics (T-RO), 34(4): 966-984, Aug. 2018. DOI: TRO.2018.2830331. arXiv: 1706.06454 [cs.RO]. Illustration video. Short description video.

Associated publication:

Subclassed by ompl::geometric::SORRTstar

Public Functions

InformedRRTstar(const base::SpaceInformationPtr &si)

Constructor.