Struct RRTOptions

• Defined in File rrt.hpp

Struct Documentation

struct RRTOptions

Options struct for RRT planner.

Public Members

std::string group_name = ""

The joint group name to be used by the planner.

size_t max_nodes = 1000

The maximum number of nodes to sample.

double max_connection_distance = 3.0

The maximum configuration distance between two nodes.

double collision_check_step_size = 0.05

The configuration-space step size for collision checking along edges.

bool collision_check_use_bisection = true

If true, uses bisection instead of linear search for collision checking along edges.

double goal_biasing_probability = 0.15

The probability of sampling the goal node instead of a random node.

Must be between 0 and 1.

double max_planning_time = 0

The maximum amount of time to allow for planning, in seconds.

If <= 0 then planning will never timeout.

bool rrt_connect = false

If true, use the RRT-Connect algorithm to grow the search trees.