Class SORRTstar

• Defined in File SORRTstar.h

Inheritance Relationships

Base Type

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

Class Documentation

class SORRTstar : public ompl::geometric::InformedRRTstar

SORRT*.

Run RRT* as SORRT* using an ordered informed search strategy that considers states in the subproblem that could provide a better solution in order of their potential solution cost. A sorted version Informed RRT*.

J. D. Gammell, T. D. Barfoot, S. S. Srinivasa, “Batch Informed Trees (BIT*): Informed asymptotically optimal

anytime search.” The International Journal of Robotics Research (IJRR), 39(5): 543-567, Apr. 2020. DOI:

10.1177/0278364919890396. arXiv: 1707.01888 [cs.RO]. Illustration video.

Associated publication:

Public Functions

SORRTstar(const base::SpaceInformationPtr &si)

Constructor.