Class RRTsharp

• Defined in File RRTsharp.h

Inheritance Relationships

Base Type

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

Class Documentation

class RRTsharp : public ompl::geometric::RRTXstatic

Optimal Rapidly-exploring Random Trees Maintaining An Optimal Tree.

Short description

RRT# is an asymptotically-optimal incremental sampling-based motion planning algorithm. It is similar from RRTXstatic but maintains an optimal tree, same as RRTXstatic

with a treshold 0.

The parameters are the same as

RRTXstatic except for the parameter epsilon.

External documentation

1. M. Otte & E. Frazzoli - RRTX : Real-Time Motion Planning/Replanning for Environments with Unpredictable Obstacles, Algorithmic Foundations of Robotics XI, Volume 107 of the series Springer Tracts in Advanced Robotics pp 461-478

2. O. Arslan, P. Tsiotras - The role of vertex consistency in sampling-based algorithms for optimal motion planning, https://arxiv.org/pdf/1204.6453

3. O. Arslan, P. Tsiotras - Dynamic programming guided exploration for sampling-based motion planning algorithms, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp 4819-4826

Public Functions

RRTsharp(const base::SpaceInformationPtr &si)

inline virtual void setEpsilon(double) override

Overwrite of RRTXstatic setEpsilon. It does nothing but warn the user that this parameter cannot be changed.