atlasrrt.h File Reference Detailed DescriptionDefines a RRT where the sampling is done using an atlas. Many functions are very similar to those for Trrt but adapted to work in combination with an atlas.
Definition in file atlasrrt.h.
Macro Definition Documentation
Vebosity of the atlasRRT operations. If set to 0 only minimalistic information is printed. Note that some of the operations of the AtlasRRT are actually performed at the level of RRT. Thus to get a complete information you should set RRT_VERBOSE to 1 too. And the same applies for ATLAS_VERBOSE. Definition at line 30 of file atlasrrt.h. Referenced by AtlasBiRRTstarCloseIteration(), AtlasRRTstarCloseIteration(), and main().
Set this to one to gather statistics of AtlasRRT construction process. These statistics are printed at the end of the AtlasRRT construction. Definition at line 38 of file atlasrrt.h. Referenced by main().
If set (>0) the sampling area is adjusted (reduced/increased) taking into account the branch extension (if successful the sampling area is incresased and if a branch extension failed the sampling area is reduced). Two modes are possible
The ratio at which the sampling area is adjusted is defined in MOV_AVG_UP and MOV_AVG_DOWN. See ADJUST_SR for a related adjustment of the sampling area for each chart. Definition at line 57 of file atlasrrt.h. Referenced by main().
If set to 1 we search for nearest neighbours using Euclidean distance and considering all nodes in the AtlasRRT. If 0, we only consider nodes in neighbouring charts. Considering only samples in neighbouring charts tends to produce parallel branches and branch crossing specially at the early stages of the RRT where the charts are very large, samples are far a away and nearby charts are not still neighbours (some charts are missing in between them). Used only for experimental reasons. Definition at line 70 of file atlasrrt.h. Referenced by main().
Set this to one to check the global curvature tolerences between charts. Otherwise, it is only the curvature along the direction of expansion that is checked. Definition at line 78 of file atlasrrt.h. Referenced by main(). Function Documentation
Init the Atlas RRT statistics.
Definition at line 325 of file atlasrrt.c. References TAtlasRRTStatistics::dQrand, TAtlasRRTStatistics::n, TAtlasRRTStatistics::nBranch, TAtlasRRTStatistics::nChart, TAtlasRRTStatistics::nCollision, TAtlasRRTStatistics::nCollisionChecks, TAtlasRRTStatistics::nDirLargeCurvature, TAtlasRRTStatistics::nErrorNewChart, TAtlasRRTStatistics::nLargeCurvature, TAtlasRRTStatistics::nNoConnect, TAtlasRRTStatistics::nNoConvergent, TAtlasRRTStatistics::nNoEmptyBranch, TAtlasRRTStatistics::nNoEmptyTreeConnection, TAtlasRRTStatistics::nNotInDomain, TAtlasRRTStatistics::nOutOfChart, TAtlasRRTStatistics::nOverlap, TAtlasRRTStatistics::nQrandReached, TAtlasRRTStatistics::nRandom, TAtlasRRTStatistics::nRejections, TAtlasRRTStatistics::nSample, TAtlasRRTStatistics::nSingular, TAtlasRRTStatistics::nStep, TAtlasRRTStatistics::nStepReduction, TAtlasRRTStatistics::nTooFar, TAtlasRRTStatistics::nTooLong, and TAtlasRRTStatistics::nTreeConnection. Referenced by AtlasBiRRTstar(), AtlasRRT(), AtlasRRTstar(), AtlasTRRT(), and main().
Accumulates two sets of Atlas RRT statistics. This is used to accumulate statistics when executing a long sequence of experiments.
Definition at line 492 of file atlasrrt.c. References TAtlasRRTStatistics::dQrand, TAtlasRRTStatistics::n, TAtlasRRTStatistics::nBranch, TAtlasRRTStatistics::nChart, TAtlasRRTStatistics::nCollision, TAtlasRRTStatistics::nCollisionChecks, TAtlasRRTStatistics::nDirLargeCurvature, TAtlasRRTStatistics::nErrorNewChart, TAtlasRRTStatistics::nLargeCurvature, TAtlasRRTStatistics::nNoConnect, TAtlasRRTStatistics::nNoConvergent, TAtlasRRTStatistics::nNoEmptyBranch, TAtlasRRTStatistics::nNoEmptyTreeConnection, TAtlasRRTStatistics::nNotInDomain, TAtlasRRTStatistics::nOutOfChart, TAtlasRRTStatistics::nOverlap, TAtlasRRTStatistics::nQrandReached, TAtlasRRTStatistics::nRandom, TAtlasRRTStatistics::nRejections, TAtlasRRTStatistics::nSample, TAtlasRRTStatistics::nSingular, TAtlasRRTStatistics::nStep, TAtlasRRTStatistics::nStepReduction, TAtlasRRTStatistics::nTooFar, TAtlasRRTStatistics::nTooLong, and TAtlasRRTStatistics::nTreeConnection. Referenced by AtlasBiRRTstar(), AtlasRRT(), AtlasRRTstar(), and AtlasTRRT().
Prints a report about the collected atlasRRT statistics.
Definition at line 538 of file atlasrrt.c. References Tatlasrrt::atlas, TAtlasRRTStatistics::dQrand, DynamicDomainRRT(), GetAtlasChart(), GetChartSamplingRadius(), GetDynamicDomainRadius(), INF, TAtlasRRTStatistics::n, TAtlasRRTStatistics::nBranch, Tatlasrrt::nc, TAtlasRRTStatistics::nChart, TAtlasRRTStatistics::nCollision, TAtlasRRTStatistics::nCollisionChecks, TAtlasRRTStatistics::nDirLargeCurvature, TAtlasRRTStatistics::nErrorNewChart, TAtlasRRTStatistics::nLargeCurvature, TAtlasRRTStatistics::nNoConnect, TAtlasRRTStatistics::nNoConvergent, TAtlasRRTStatistics::nNoEmptyBranch, TAtlasRRTStatistics::nNoEmptyTreeConnection, TAtlasRRTStatistics::nNotInDomain, TAtlasRRTStatistics::nOutOfChart, TAtlasRRTStatistics::nOverlap, TAtlasRRTStatistics::nQrandReached, TAtlasRRTStatistics::nRandom, TAtlasRRTStatistics::nRejections, Tatlasrrt::ns, TAtlasRRTStatistics::nSample, TAtlasRRTStatistics::nSingular, TAtlasRRTStatistics::nStep, TAtlasRRTStatistics::nStepReduction, TAtlasRRTStatistics::nTooFar, TAtlasRRTStatistics::nTooLong, TAtlasRRTStatistics::nTreeConnection, and Tatlasrrt::rrt. Referenced by AtlasBiRRTstar(), AtlasRRT(), AtlasRRTstar(), AtlasTRRT(), and main().
Deletes the atlasRRT statistics object.
Definition at line 745 of file atlasrrt.c. Referenced by AtlasBiRRTstar(), AtlasRRT(), AtlasRRTstar(), AtlasTRRT(), and main().
Defines a Atlas-RRT with a single sample, the root.
Definition at line 2855 of file atlasrrt.c. References AddChart2AtlasRRT(), Tatlasrrt::ambient, Tatlasrrt::atlas, Tatlasrrt::birrt, TSampleInfo::c, Tatlasrrt::ce, Tatlasrrt::chartsAtTree1, Tatlasrrt::chartsAtTree2, Tatlasrrt::ci, CS_WD_GENERATE_SIMP_INITIAL_BOX, CS_WD_GET_SIMP_JACOBIAN, CT_CE, CT_E, CT_N_DOF, CT_R, Tatlasrrt::e, Error(), EXPLORATION_RRT, FALSE, TSampleInfo::generateChart, GetAtlasNumCharts(), GetBoxNIntervals(), GetParameter(), GetRRTNode(), GetRRTNumNodes(), GetRRTTopology(), GOAL2START, TSampleInfo::id, INIT_NUM_CHARTS, INIT_NUM_SAMPLES_RRT, InitAtlasFromPoint(), InitRRT(), TChartInfo::it, Tatlasrrt::J, Tatlasrrt::k, TChartInfo::lc, TSampleInfo::lsc, Tatlasrrt::m, Tatlasrrt::mc, Tatlasrrt::mct1, Tatlasrrt::mct2, Tatlasrrt::ms, Tatlasrrt::nc, Tatlasrrt::nct1, Tatlasrrt::nct2, NEW, NO_UINT, Tatlasrrt::ns, ONE_TREE, Tatlasrrt::parallel, TSampleInfo::pc, Tatlasrrt::r, Tatlasrrt::rrt, TSampleInfo::s, Tatlasrrt::si, START2GOAL, TSampleInfo::t, Tatlasrrt::tp, TChartInfo::tree, TRUE, and Tatlasrrt::w. Referenced by main().
Generates a random sample to expand the AtlasRRT. The sample can be generated with different policies according to the mode (from the ambient space, or near the existing nodes) and the goal (if defined the goal is used as random sample 1 out of 100 times).
Definition at line 2993 of file atlasrrt.c. References AMBIENT_SAMPLING, Tatlasrrt::atlas, Tatlasrrt::birrt, CS_WD_SIMP_INEQUALITIES_HOLD, DecreaseChartSamplingRadius(), Error(), FALSE, GetAtlasChart(), IncreaseChartSamplingRadius(), Tatlasrrt::k, KDTREE_SAMPLING, Tatlasrrt::m, NewAtlasRRTRandomSample(), NewAtlasRRTSampleRejection(), NO_UINT, Norm(), Tatlasrrt::r, randomDouble(), RandomPointInAtlasTree(), Tatlasrrt::rrt, RRTSample(), TANGENT_SAMPLING, and Tatlasrrt::w. Referenced by AtlasBiRRTstar(), AtlasRRT(), AtlasRRTstar(), and AtlasTRRT().
Checks if a given sample is valid to expand the AtlasRRT.
Definition at line 3081 of file atlasrrt.c. References TSampleInfo::c, DistanceTopology(), GetRRTNN(), GetRRTNNInNeighbourChart(), HEURISTIC_RRT_STAR, InDynamicDomain(), INF, Tatlasrrt::m, NewAtlasRRTSampleRejection(), NO_UINT, Tatlasrrt::rrt, TSampleInfo::s, Tatlasrrt::si, Tatlasrrt::tp, and TRUE. Referenced by AtlasBiRRTstar(), AtlasRRT(), AtlasRRTstar(), and AtlasTRRT().
Adds as many branches as necessary to the Atlas-RRT until a targed configuration is reached (approached at a small distance).
Definition at line 3133 of file atlasrrt.c. References AccumulateAtlasRRTStatistics(), ADD_ALL, AddBranchToAtlasRRT(), Tatlasrrt::ambient, Tatlasrrt::atlas, AtlasRRTSample(), AtlasRRTValidateSample(), Tatlasrrt::birrt, CS_WD_ERROR_IN_SIMP_EQUATIONS, CS_WD_GENERATE_SIMPLIFIED_POINT, CS_WD_ORIGINAL_IN_COLLISION, CS_WD_REGENERATE_SOLUTION_POINT, CS_WD_SIMP_INEQUALITIES_HOLD, CT_DETECT_BIFURCATIONS, CT_EPSILON, CT_MAX_NODES_RRT, CT_MAX_PLANNING_TIME, CT_SAMPLING, DecreaseChartSamplingRadius(), DeleteAtlasRRTStatistics(), DeleteStatistics(), DistanceTopology(), Error(), EXPLORATION_RRT, FALSE, GetAtlasChart(), GetElapsedTime(), GetParameter(), GetRRTNNInBranch(), GOAL2START, IncreaseChartSamplingRadius(), INF, InitAtlasRRTStatistics(), InitStatistics(), Tatlasrrt::k, Tatlasrrt::m, MOV_AVG_DOWN, MOV_AVG_UP, Tatlasrrt::nc, NEW, NewAtlasRRTBranch(), NewAtlasRRTChart(), NewAtlasRRTDistanceQrand(), NewAtlasRRTNoEmptyBranch(), NewAtlasRRTNoEmptyTreeConnection(), NewAtlasRRTSample(), NewAtlasRRTTreeConnection(), NO_UINT, Tatlasrrt::ns, PathStart2GoalInRRT(), PointInBoxTopology(), PrintAtlasRRTStatistics(), Tatlasrrt::rrt, TSampleInfo::s, Tatlasrrt::si, START2GOAL, TANGENT_SAMPLING, Tatlasrrt::tp, TRUE, and Tatlasrrt::w. Referenced by main().
Adds as many branches as necessary to the Atlas-TRRT until a targed configuration is reached (approached at a small distance). The difference with respect AtlasRRT is that here we take into account a cost function using the strategy proposed in L. Jaillet, J. Cortes, T. Simeon, Sampling-based path planning on configuration-space costmaps IEEE Transactions on Robotics, Vol. 26(4), pp. 635 - 646, 2010. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5477164
Definition at line 3399 of file atlasrrt.c. References AccumulateAtlasRRTStatistics(), ADD_ALL, AddBranchToAtlasRRT(), Tatlasrrt::ambient, AtlasRRTSample(), AtlasRRTValidateSample(), Tatlasrrt::birrt, CS_WD_ERROR_IN_SIMP_EQUATIONS, CS_WD_GENERATE_SIMPLIFIED_POINT, CS_WD_ORIGINAL_IN_COLLISION, CS_WD_REGENERATE_SOLUTION_POINT, CS_WD_SIMP_INEQUALITIES_HOLD, CT_DETECT_BIFURCATIONS, CT_EPSILON, CT_MAX_NODES_RRT, CT_MAX_PLANNING_TIME, CT_SAMPLING, DeleteAtlasRRTStatistics(), DeleteStatistics(), Error(), EXPLORATION_RRT, FALSE, GetElapsedTime(), GetParameter(), GetRRTNode(), GetTRRTTemperature(), INF, InitAtlasRRTStatistics(), InitStatistics(), Tatlasrrt::k, Tatlasrrt::m, Tatlasrrt::nc, NEW, NewAtlasRRTChart(), NewAtlasRRTSample(), NO_UINT, Tatlasrrt::ns, PathStart2GoalInRRT(), PointInBoxTopology(), PrintAtlasRRTStatistics(), Tatlasrrt::rrt, SetRRTNodeCost(), START2GOAL, Tatlasrrt::tp, TRUE, and Tatlasrrt::w. Referenced by main().
Tries to determine an optimal path to the goal using the RRT* method by S. Karaman and E. Frazzoli "Sampling-based algorithms for optimal motion planning" International Journal of Robotics Research, 2011 but adapted to operate on manifolds. In this case the connections of the connection between points on the manifold is done using the method by Berenson, D., Srinivasa, S., and Kuffner, J. (2011). Task space regions: A framework for pose-constrained manipulation planning. International Journal of Robotics Research. doi 10.1177/0278364910396389. Note that in this case the RRT construction is not stopped when the goal is reached but continues refining the path for the maximum time allowed for the tree construction. This is the atlas-based version of RRTstar. The main difference is that the atlas is used to sample new nodes and to determine paths between samples. If constant GAMMA is 0 this procedure only finds the first path to the goal and then stops (to attempt to improve the path is done).
Definition at line 3908 of file atlasrrt.c. References AccumulateAtlasRRTStatistics(), AddStepToAtlasRRTstar(), Tatlasrrt::ambient, AtlasBiRRTstar(), AtlasRRTSample(), AtlasRRTstarCloseIteration(), AtlasRRTValidateSample(), Tatlasrrt::birrt, CopyDoublePair(), CS_WD_ERROR_IN_SIMP_EQUATIONS, CS_WD_GENERATE_SIMPLIFIED_POINT, CS_WD_ORIGINAL_IN_COLLISION, CS_WD_REGENERATE_SOLUTION_POINT, CS_WD_SIMP_INEQUALITIES_HOLD, CT_DELTA, CT_EPSILON, CT_GAMMA, CT_MAX_PLANNING_ITERATIONS, CT_MAX_PLANNING_TIME, CT_SAMPLING, DeleteAtlasRRTStatistics(), DeleteDoublePair(), DeleteHeap(), DeleteStatistics(), DistanceTopology(), Error(), EXPLORATION_RRT, FALSE, GetElapsedTime(), GetParameter(), GetRRTNNInBall(), GetRRTNodeCost(), HEURISTIC_RRT_STAR, INF, InitAtlasRRTStatistics(), InitHeap(), InitStatistics(), IsRRTGraph(), Tatlasrrt::k, LessThanDoublePair(), Tatlasrrt::m, Tatlasrrt::ms, Tatlasrrt::nc, NEW, NewAtlasRRTChart(), NewAtlasRRTSample(), NO_UINT, Tatlasrrt::ns, Tatlasrrt::parallel, PointInBoxTopology(), PrintAtlasRRTStatistics(), ReconstructAtlasRRTPath(), RecursiveReWireRRTstar(), ReWireAtlasRRTstar(), Tatlasrrt::rrt, TSampleInfo::s, Tatlasrrt::si, START2GOAL, Tatlasrrt::tp, TRUE, UpdateCostAndTree(), Tatlasrrt::w, and WireAtlasRRTstar(). Referenced by AtlasBiRRTstar(), and main().
The same as AtlasRRTstar but here a bi-directional RRT is built.
Definition at line 4148 of file atlasrrt.c. References AccumulateAtlasRRTStatistics(), ADD_NONE, AddBranchToAtlasRRT(), AddEdgeToRRT(), AddStepToAtlasRRTstar(), AtlasBiRRTstarCloseIteration(), AtlasRRTSample(), AtlasRRTstar(), AtlasRRTValidateSample(), Tatlasrrt::birrt, BOTHTREES, ChangeBiRRTSteps(), CopyDoublePair(), CopyRRTStep(), CT_DELTA, CT_GAMMA, CT_MAX_PLANNING_ITERATIONS, CT_MAX_PLANNING_TIME, CT_SAMPLING, DeleteAtlasRRTStatistics(), DeleteDoublePair(), DeleteHeap(), DeleteRRTStep(), DeleteStatistics(), DeleteVector(), DistanceTopology(), Error(), EXPLORATION_RRT, FALSE, GetElapsedTime(), GetParameter(), GetRRTNN(), GetRRTNNInBall(), GetRRTNodeCost(), GetRRTNodeTree(), GOAL2START, HEURISTIC_RRT_STAR, INF, InitAtlasRRTStatistics(), InitHeap(), InitStatistics(), InitVector(), IsRRTGraph(), Tatlasrrt::k, LessThanDoublePair(), Tatlasrrt::m, Tatlasrrt::ms, Tatlasrrt::nc, NEW, NewAtlasRRTChart(), NewAtlasRRTSample(), NO_UINT, Tatlasrrt::ns, Tatlasrrt::parallel, PrintAtlasRRTStatistics(), RecursiveReWireRRTstar(), ReWireAtlasRRTstar(), Tatlasrrt::rrt, TSampleInfo::s, Tatlasrrt::si, START2GOAL, Steps2PathinAtlasRRT(), Tatlasrrt::tp, TRUE, UpdateBiRRTSteps(), and WireAtlasRRTstar(). Referenced by AtlasRRTstar().
Pots a projection of an atlasRRT. Combines the plot of the Atlas and the RRT.
Plots a 3d projection of an atlasRRT defined on a manifold. That is it plots the atlas, the RRT and some information about the relation between the two structures. Although the ambien space can have arbitrary dimension we project it on 3 dimensions. The output plot can be visualized using geomview.
Pots a projection of a Atlas-RRT. Plots a 3d projection of an atlasRRT defined on a manifold. That is it plots the atlas, the RRT and some information about the relation between the two structures. Although the ambien space can have arbitrary dimension we project it on 3 dimensions. The output plot can be visualized using geomview.
Definition at line 4470 of file atlasrrt.c. References Tatlasrrt::atlas, Tatlasrrt::birrt, TSampleInfo::c, Close3dObject(), ClosePlot3d(), CreateFileName(), CS_WD_REGENERATE_ORIGINAL_POINT, DeleteColor(), DeleteFileName(), FALSE, GetAtlasChart(), GetFileFullName(), GetRRTNodeTree(), GetRRTParent(), GOAL2START, InitPlot3d(), Tatlasrrt::k, Local2Global(), Tatlasrrt::m, NEW, NewColor(), Tatlasrrt::ns, PLOT3D_EXT, PLOT_AS_POLYGONS, PlotAtlas(), PlotRRT(), PlotVect3d(), Tatlasrrt::rrt, TSampleInfo::s, Tatlasrrt::si, START2GOAL, StartNew3dObject(), TSampleInfo::t, and Tatlasrrt::w. Referenced by main().
Returns the number of nodes (samples) in the AtlasRRT.
Definition at line 4400 of file atlasrrt.c. References Tatlasrrt::ns. Referenced by main().
Returns the number of charts in the AtlasRRT.
Definition at line 4405 of file atlasrrt.c. References Tatlasrrt::nc. Referenced by main().
Selects a random point in the set of charts reached by a given tree.
Definition at line 2562 of file atlasrrt.c. References Tatlasrrt::atlas, Tatlasrrt::birrt, BOTHTREES, Tatlasrrt::chartsAtTree1, Tatlasrrt::chartsAtTree2, GetAtlasChart(), GetAtlasNumCharts(), GetChartSamplingRadius(), Tatlasrrt::k, Tatlasrrt::nct1, Tatlasrrt::nct2, NEW, randomMax(), RandomPointInAtlas(), RandomPointInChart(), randomWithDistribution(), START2GOAL, and Tatlasrrt::tp. Referenced by AtlasRRTSample().
Selects the nearest neighbour from the random point in the chart of Id ChartId, or in one of its neighbour charts.
Definition at line 4411 of file atlasrrt.c. References Tatlasrrt::atlas, ChartNeighbourID(), ChartNumNeighbours(), GetAtlasChart(), GetRRTNNInChart(), INF, and NO_UINT. Referenced by AtlasRRTValidateSample().
Selects the nearest neighbour from the random point in the chart of Id ChartId.
Definition at line 4443 of file atlasrrt.c. References Tatlasrrt::birrt, Tatlasrrt::ci, DistanceTopologyMin(), GetRRTNodeTree(), TChartInfo::lc, TSampleInfo::lsc, Tatlasrrt::m, NO_UINT, Tatlasrrt::rrt, TSampleInfo::s, Tatlasrrt::si, and Tatlasrrt::tp. Referenced by GetRRTNNInNeighbourChart().
Returns the approximated memory used (in bytes) by a given atlasRRT.
Definition at line 4677 of file atlasrrt.c. References Tatlasrrt::atlas, AtlasMemSize(), Tatlasrrt::rrt, and RRTMemSize(). Referenced by main().
Stores the atlasRRT as a normal atlas and a RRT than can be latter read/plotted with the usual programs. Note that this does not save all the information stored in the AtlasRRT but only that necessary for plotting.
Definition at line 4687 of file atlasrrt.c. References Tatlasrrt::atlas, ATLAS_EXT, ATLAS_RRT_EXT, Tatlasrrt::birrt, Tatlasrrt::ce, Tatlasrrt::chartsAtTree1, Tatlasrrt::chartsAtTree2, Tatlasrrt::ci, CreateFileName(), DeleteFileName(), Tatlasrrt::e, Error(), GetFileFullName(), Tatlasrrt::k, Tatlasrrt::m, Tatlasrrt::mc, Tatlasrrt::mct1, Tatlasrrt::mct2, Tatlasrrt::ms, Tatlasrrt::nc, Tatlasrrt::nct1, Tatlasrrt::nct2, Tatlasrrt::ns, Tatlasrrt::r, Tatlasrrt::rrt, RRT_EXT, SaveAtlas(), SaveAtlasRRTChartInfo(), SaveAtlasRRTSampleInfo(), SaveRRT(), and Tatlasrrt::si. Referenced by main().
Construct an atlasRRT from the information previously stored in a file by SaveAtlasRRT.
Definition at line 4744 of file atlasrrt.c. References Tatlasrrt::ambient, Tatlasrrt::atlas, ATLAS_EXT, ATLAS_RRT_EXT, Tatlasrrt::birrt, Tatlasrrt::ce, Tatlasrrt::chartsAtTree1, Tatlasrrt::chartsAtTree2, Tatlasrrt::ci, CreateFileName(), CS_WD_GENERATE_SIMP_INITIAL_BOX, CS_WD_GET_SIMP_JACOBIAN, DeleteFileName(), Tatlasrrt::e, Error(), FALSE, GetFileFullName(), GetRRTTopology(), Tatlasrrt::J, Tatlasrrt::k, LoadAtlas(), LoadAtlasRRTChartInfo(), LoadAtlasRRTSampleInfo(), LoadRRT(), Tatlasrrt::m, Tatlasrrt::mc, Tatlasrrt::mct1, Tatlasrrt::mct2, Tatlasrrt::ms, Tatlasrrt::nc, Tatlasrrt::nct1, Tatlasrrt::nct2, NEW, Tatlasrrt::ns, Tatlasrrt::parallel, Tatlasrrt::r, Tatlasrrt::rrt, RRT_EXT, Tatlasrrt::si, Tatlasrrt::tp, and Tatlasrrt::w. Referenced by main().
Deletes the information stored in the RRT.
Definition at line 4817 of file atlasrrt.c. References Tatlasrrt::ambient, Tatlasrrt::atlas, Tatlasrrt::birrt, Tatlasrrt::chartsAtTree1, Tatlasrrt::chartsAtTree2, Tatlasrrt::ci, DeleteAtlas(), DeleteBox(), DeleteJacobian(), DeleteRRT(), Tatlasrrt::J, Tatlasrrt::nc, Tatlasrrt::ns, Tatlasrrt::rrt, Tatlasrrt::si, and TSampleInfo::t. Referenced by main(). |
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