RRTSTAR Class Reference

RRTStar Class. More...

#include <rrtstar.h>

Collaboration diagram for RRTSTAR:

Public Member Functions
	RRTSTAR ()
	Constructor. More...
void	initialize ()
	Initialize root node of RRTSTAR. More...
Node *	getRandomNode ()
	Generate a random node in the field. More...
Node *	nearest (Vector2f point)
	Get nearest node from a given configuration/position. More...
void	near (Vector2f point, float radius, vector< Node * > &out_nodes)
	Get neighborhood nodes of a given configuration/position. More...
double	distance (Vector2f &p, Vector2f &q)
	Helper method to find distance between two positions. More...
double	Cost (Node *q)
	Return trajectory cost. More...
double	PathCost (Node *qFrom, Node *qTo)
	Compute path cost. More...
Vector3f	newConfig (Node *q, Node *qNearest)
	Find a configuration at a distance step_size from nearest node to random node. More...
void	add (Node *qNearest, Node *qNew)
	Add a node to the tree. More...
bool	reached ()
	Check if the last node is close to the end position. More...
void	setStepSize (double step)
void	setMaxIterations (int iter)
void	deleteNodes (Node *root)
	Delete all nodes using DFS technique. More...
void	setStartPose (double x, double y, double theta)
	Set the Start position of robot. More...
void	setGoalPose (double x, double y)
	Set the Destination position. More...
void	setWorldInfo (double width, double height)
	Set the World information. More...
void	set_max_iter (int x)
void	set_step_size (double x)
void	set_bot_radius (double x)
void	set_goalBias (double x)
void	set_turn_radius (double x)
void	set_rrt_star_neighbour_factor (double x)
void	set_bot_follow_dubin (bool x)

Public Attributes
RRTObstacles *	obstacles
vector< Node * >	nodes
vector< Node * >	path
Node *	root
Node *	lastNode
Vector2f	startPos
Vector2f	endPos
double	start_orient
int	max_iter
double	step_size
double	world_width
double	world_height
double	bot_radius
double	goalBias
double	turn_radius
bool	bot_follow_dubin
double	rrt_star_neighbour_factor

Detailed Description

RRTStar Class.

Constructor & Destructor Documentation

RRTSTAR::RRTSTAR

(

)

Constructor.

Member Function Documentation

void RRTSTAR::add	(	Node *	qNearest,
		Node *	qNew
	)

Add a node to the tree.

Parameters

qNearest
qNew

double RRTSTAR::Cost

(

Node *

q

)

Return trajectory cost.

Parameters

q	cost of node be computed

Returns

Cost of the node

void RRTSTAR::deleteNodes

(

Node *

root

)

Delete all nodes using DFS technique.

Parameters

root	root node or the first node

double RRTSTAR::distance	(	Vector2f &	p,
		Vector2f &	q
	)

Helper method to find distance between two positions.

Parameters

p	Point p
q	Point q

Returns

Euclidean distance between Point P and Q

Node * RRTSTAR::getRandomNode

(

)

Generate a random node in the field.

Returns

Random Node

void RRTSTAR::initialize

(

)

Initialize root node of RRTSTAR.

void RRTSTAR::near	(	Vector2f	point,
		float	radius,
		vector< Node * > &	out_nodes
	)

Get neighborhood nodes of a given configuration/position.

Parameters

point	point in the world
radius	radius to check for neighbors
out_nodes	list of nodes in that radius

Node * RRTSTAR::nearest

(

Vector2f

point

)

Get nearest node from a given configuration/position.

Parameters

point

given point in world

Returns

Nearest Node in the node list

Vector3f RRTSTAR::newConfig	(	Node *	q,
		Node *	qNearest
	)

Find a configuration at a distance step_size from nearest node to random node.

Parameters

q	given node
qNearest	nearest node in list

Returns

New config with (x,y,theta)

double RRTSTAR::PathCost	(	Node *	qFrom,
		Node *	qTo
	)

Compute path cost.

Parameters

qFrom	from node
qTo	to node

Returns

The path cost from Node a to Node b

bool RRTSTAR::reached

(

)

Check if the last node is close to the end position.

Returns

true/false - reached destination/not reached

void RRTSTAR::set_bot_follow_dubin

(

bool

x

)

void RRTSTAR::set_bot_radius

(

double

x

)

void RRTSTAR::set_goalBias

(

double

x

)

void RRTSTAR::set_max_iter

(

int

x

)

void RRTSTAR::set_rrt_star_neighbour_factor

(

double

x

)

void RRTSTAR::set_step_size

(

double

x

)

void RRTSTAR::set_turn_radius

(

double

x

)

void RRTSTAR::setGoalPose	(	double	x,
		double	y
	)

Set the Destination position.

Parameters

x
y

Returns

void RRTSTAR::setMaxIterations

(

int

iter

)

void RRTSTAR::setStartPose	(	double	x,
		double	y,
		double	theta
	)

Set the Start position of robot.

Parameters

x
y
theta

Returns

void RRTSTAR::setStepSize

(

double

step

)

void RRTSTAR::setWorldInfo	(	double	width,
		double	height
	)

Set the World information.

Parameters

x
y

Returns

Member Data Documentation

bool RRTSTAR::bot_follow_dubin

Robot turn radius

double RRTSTAR::bot_radius

World height

Vector2f RRTSTAR::endPos

Start pose

double RRTSTAR::goalBias

bot radius

Node* RRTSTAR::lastNode

root node (initial pose)

int RRTSTAR::max_iter

Start orientation

vector<Node *> RRTSTAR::nodes

obstacle information

RRTObstacles* RRTSTAR::obstacles

vector<Node *> RRTSTAR::path

List of nodes in explored database

Node* RRTSTAR::root

path with tracing the nodes

double RRTSTAR::rrt_star_neighbour_factor

double RRTSTAR::start_orient

end pose

Vector2f RRTSTAR::startPos

last Node of the rrt* exploration

double RRTSTAR::step_size

maximum iterations

double RRTSTAR::turn_radius

goal Bias

double RRTSTAR::world_height

World width

double RRTSTAR::world_width

Step size(distance between points)

---

The documentation for this class was generated from the following files:

• src/RRTStar/rrtstar.h
• src/RRTStar/rrtstar.cpp