Class QRRTStarImpl

Inheritance Relationships

Base Type

Class Documentation

class QRRTStarImpl : public ompl::multilevel::BundleSpaceGraph

Implementation of BundleSpace Rapidly-Exploring Random Tree Star Algorithm.

Public Functions

QRRTStarImpl(const ompl::base::SpaceInformationPtr &si, BundleSpace *parent_)
virtual ~QRRTStarImpl() override
virtual void grow() override

One iteration of RRT with adjusted sampling function.

void updateChildCosts(Configuration *q)

Public Members

double k_rrt_Constant_ = {0}

a constant value to calculate k

double r_rrt_Constant_ = {0}

a constant value to calculate radius

double rewireFactor_ = {1.1}
bool symmetric_

true if cost from a to b is same as b to a

bool useKNearest_ = {true}

option to use k nn or radius

double d_ = {0}

store dimension of bundle space to calc radius