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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
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<!-- doxytag: class="ompl::control::RRT" --><!-- doxytag: inherits="ompl::base::Planner" -->
<p>Rapidly-exploring Random Tree.
<a href="classompl_1_1control_1_1RRT.html#details">More...</a></p>
<p><code>#include <<a class="el" href="control_2planners_2rrt_2RRT_8h_source.html">RRT.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::control::RRT:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1control_1_1RRT__inherit__graph.png" border="0" usemap="#ompl_1_1control_1_1RRT_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1control_1_1RRT_inherit__map" id="ompl_1_1control_1_1RRT_inherit__map">
<area shape="rect" id="node2" href="classompl_1_1base_1_1Planner.html" title="Base class for a planner." alt="" coords="5,5,144,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1control_1_1RRT-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT_1_1Motion.html">Motion</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Representation of a motion. <a href="classompl_1_1control_1_1RRT_1_1Motion.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad74aa3374c2a2ecbf29eb9462a229e19"></a><!-- doxytag: member="ompl::control::RRT::RRT" ref="ad74aa3374c2a2ecbf29eb9462a229e19" args="(const SpaceInformationPtr &si)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#ad74aa3374c2a2ecbf29eb9462a229e19">RRT</a> (const <a class="el" href="classompl_1_1control_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> &si)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ace3cff4a51e75e3e827014ef34b9c8d8"></a><!-- doxytag: member="ompl::control::RRT::solve" ref="ace3cff4a51e75e3e827014ef34b9c8d8" args="(const base::PlannerTerminationCondition &ptc)" -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#ace3cff4a51e75e3e827014ef34b9c8d8">solve</a> (const <a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Continue solving for some amount of time. Return true if solution was found. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a35be5b7c879b31cbbe4347beb5ee4041"></a><!-- doxytag: member="ompl::control::RRT::clear" ref="a35be5b7c879b31cbbe4347beb5ee4041" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#a35be5b7c879b31cbbe4347beb5ee4041">clear</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear datastructures. Call this function if the input data to the planner has changed and you do not want to continue planning. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#a068bcfdd1b0ec3ea9d1a4923610496e5">setGoalBias</a> (double goalBias)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3a779200b2ebaaf4bc8ff811c3a02ba9"></a><!-- doxytag: member="ompl::control::RRT::getGoalBias" ref="a3a779200b2ebaaf4bc8ff811c3a02ba9" args="(void) const " -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#a3a779200b2ebaaf4bc8ff811c3a02ba9">getGoalBias</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the goal bias the planner is using. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae4ab6aef66f85778dc068e49b28b8d87"></a><!-- doxytag: member="ompl::control::RRT::getPlannerData" ref="ae4ab6aef66f85778dc068e49b28b8d87" args="(base::PlannerData &data) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#ae4ab6aef66f85778dc068e49b28b8d87">getPlannerData</a> (<a class="el" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a> &data) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get information about the current run of the motion planner. Repeated calls to this function will update <em>data</em> (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to <a class="el" href="classompl_1_1control_1_1RRT.html#ace3cff4a51e75e3e827014ef34b9c8d8" title="Continue solving for some amount of time. Return true if solution was found.">solve()</a>, for example (without calling <a class="el" href="classompl_1_1control_1_1RRT.html#a35be5b7c879b31cbbe4347beb5ee4041" title="Clear datastructures. Call this function if the input data to the planner has changed and you do not ...">clear()</a> in between). <br/></td></tr>
<tr><td class="memTemplParams" colspan="2"><a class="anchor" id="a8f2cfb325bbeae972f6f74507130ebaa"></a><!-- doxytag: member="ompl::control::RRT::setNearestNeighbors" ref="a8f2cfb325bbeae972f6f74507130ebaa" args="(void)" -->
template<template< typename T > class NN> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#a8f2cfb325bbeae972f6f74507130ebaa">setNearestNeighbors</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set a different nearest neighbors datastructure. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a58e7beb7a826aad2b18c16b55ad58925"></a><!-- doxytag: member="ompl::control::RRT::setup" ref="a58e7beb7a826aad2b18c16b55ad58925" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#a58e7beb7a826aad2b18c16b55ad58925">setup</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Perform extra configuration steps, if needed. This call will also issue a call to <a class="el" href="classompl_1_1base_1_1SpaceInformation.html#ac39aa0c4b92e3ca5acfa75eeb56b080f" title="Perform additional setup tasks (run once, before use). If state validity checking resolution has not ...">ompl::base::SpaceInformation::setup()</a> if needed. This must be called before solving. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9f92538a652df4767eeaf5528e634286"></a><!-- doxytag: member="ompl::control::RRT::freeMemory" ref="a9f92538a652df4767eeaf5528e634286" args="(void)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#a9f92538a652df4767eeaf5528e634286">freeMemory</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Free the memory allocated by this planner. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9d4653fbaca57fae63d91510efdc3411"></a><!-- doxytag: member="ompl::control::RRT::distanceFunction" ref="a9d4653fbaca57fae63d91510efdc3411" args="(const Motion *a, const Motion *b) const " -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#a9d4653fbaca57fae63d91510efdc3411">distanceFunction</a> (const <a class="el" href="classompl_1_1control_1_1RRT_1_1Motion.html">Motion</a> *a, const <a class="el" href="classompl_1_1control_1_1RRT_1_1Motion.html">Motion</a> *b) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute distance between motions (actually distance between contained states) <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ace2d0aba3b22399f36e0af8f7ec80f5e"></a><!-- doxytag: member="ompl::control::RRT::sampler_" ref="ace2d0aba3b22399f36e0af8f7ec80f5e" args="" -->
<a class="el" href="classompl_1_1base_1_1StateSamplerPtr.html">base::StateSamplerPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#ace2d0aba3b22399f36e0af8f7ec80f5e">sampler_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">State sampler. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5f6af64746982f3398483f10e46ddc5e"></a><!-- doxytag: member="ompl::control::RRT::controlSampler_" ref="a5f6af64746982f3398483f10e46ddc5e" args="" -->
<a class="el" href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#a5f6af64746982f3398483f10e46ddc5e">controlSampler_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> sampler. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a61945ccf4115deee7b71a3c680d5dfc4"></a><!-- doxytag: member="ompl::control::RRT::siC_" ref="a61945ccf4115deee7b71a3c680d5dfc4" args="" -->
const <a class="el" href="classompl_1_1control_1_1SpaceInformation.html">SpaceInformation</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#a61945ccf4115deee7b71a3c680d5dfc4">siC_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The <a class="el" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">base::SpaceInformation</a> cast as <a class="el" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">control::SpaceInformation</a>, for convenience. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ade7dab7e775d209aaf947f257c1cf3a3"></a><!-- doxytag: member="ompl::control::RRT::nn_" ref="ade7dab7e775d209aaf947f257c1cf3a3" args="" -->
boost::shared_ptr<br class="typebreak"/>
< <a class="el" href="classompl_1_1NearestNeighbors.html">NearestNeighbors</a>< <a class="el" href="classompl_1_1control_1_1RRT_1_1Motion.html">Motion</a> * > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#ade7dab7e775d209aaf947f257c1cf3a3">nn_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A nearest-neighbors datastructure containing the tree of motions. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a40bc23cf94258f44dfe9abc572504443"></a><!-- doxytag: member="ompl::control::RRT::goalBias_" ref="a40bc23cf94258f44dfe9abc572504443" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#a40bc23cf94258f44dfe9abc572504443">goalBias_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The fraction of time the goal is picked as the state to expand towards (if such a state is available) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0373aa7c0340db91bfdfdcc2551a97a3"></a><!-- doxytag: member="ompl::control::RRT::rng_" ref="a0373aa7c0340db91bfdfdcc2551a97a3" args="" -->
<a class="el" href="classompl_1_1RNG.html">RNG</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1RRT.html#a0373aa7c0340db91bfdfdcc2551a97a3">rng_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The random number generator. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Rapidly-exploring Random Tree. </p>
<p><a class="anchor" id="cRRT"></a></p>
<dl class="user"><dt><b>Short description</b></dt><dd><a class="el" href="classompl_1_1control_1_1RRT.html" title="Rapidly-exploring Random Tree.">RRT</a> is a tree-based motion planner that uses the following idea: <a class="el" href="classompl_1_1control_1_1RRT.html" title="Rapidly-exploring Random Tree.">RRT</a> samples a random state <b>qr</b> in the state space, then finds the state <b>qc</b> among the previously seen states that is closest to <b>qr</b> and expands from <b>qc</b> towards <b>qr</b>, until a state <b>qm</b> is reached. <b>qm</b> is then added to the exploration tree. This implementation is intended for systems with differential constraints.</dd></dl>
<dl class="user"><dt><b>External documentation</b></dt><dd>S.M. LaValle and J.J. Kuffner, Randomized kinodynamic planning, <em>Intl. J. of Robotics Research</em>, vol. 20, pp. 378–400, May 2001. DOI: <a href="http://dx.doi.org/10.1177/02783640122067453">10.1177/02783640122067453</a><br/>
<a href="http://ijr.sagepub.com/content/20/5/378.full.pdf">[PDF]</a> <a href="http://msl.cs.uiuc.edu/~lavalle/rrtpubs.html">[more]</a> </dd></dl>
<p>Definition at line <a class="el" href="control_2planners_2rrt_2RRT_8h_source.html#l00069">69</a> of file <a class="el" href="control_2planners_2rrt_2RRT_8h_source.html">RRT.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a068bcfdd1b0ec3ea9d1a4923610496e5"></a><!-- doxytag: member="ompl::control::RRT::setGoalBias" ref="a068bcfdd1b0ec3ea9d1a4923610496e5" args="(double goalBias)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void ompl::control::RRT::setGoalBias </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>goalBias</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>In the process of randomly selecting states in the state space to attempt to go towards, the algorithm may in fact choose the actual goal state, if it knows it, with some probability. This probability is a real number between 0.0 and 1.0; its value should usually be around 0.05 and should not be too large. It is probably a good idea to use the default value. </p>
<p>Definition at line <a class="el" href="control_2planners_2rrt_2RRT_8h_source.html#l00102">102</a> of file <a class="el" href="control_2planners_2rrt_2RRT_8h_source.html">RRT.h</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/control/planners/rrt/<a class="el" href="control_2planners_2rrt_2RRT_8h_source.html">RRT.h</a></li>
<li>src/ompl/control/planners/rrt/src/<a class="el" href="control_2planners_2rrt_2src_2RRT_8cpp_source.html">RRT.cpp</a></li>
</ul>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
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