atlasrrt.h
Go to the documentation of this file.
369 boolean AtlasRRTValidateSample(Tparameters *pr,double *q_rand,unsigned int tree,boolean expand2goal,
boolean RandomPointInAtlasTree(Tparameters *pr, double scale, unsigned int tree, unsigned int *nm, double *t, double *p, Tatlasrrt *ar) Selects a random point in the set of charts of the tree. Definition: atlasrrt.c:2562 void InitAtlasRRT(Tparameters *pr, boolean parallel, double *ps, unsigned int mode, boolean graph, double *pg, TAtlasBase *w, Tatlasrrt *ar) Defines a Atlas-RRT from a given point. Definition: atlasrrt.c:2855 void InitAtlasRRTStatistics(TAtlasRRTStatistics *arst) Init the Atlas RRT statistics. Definition: atlasrrt.c:325 unsigned int GetRRTNNInChart(unsigned int tree, unsigned int chartId, double *q_rand, double t, double *d, Tatlasrrt *ar) Selects the nearest neighbour from the random point in the chart of Id ChartId. Definition: atlasrrt.c:4443 boolean AtlasTRRT(Tparameters *pr, double *pg, double *time, double *pl, double *pc, unsigned int *ns, double ***path, double(*costF)(Tparameters *, boolean, double *, void *), void *costData, TAtlasRRTStatistics *str, Tatlasrrt *ar) Extends a Atlas-TRRT until we reach a targed point. Definition: atlasrrt.c:3399 unsigned int AtlasRRTMemSize(Tatlasrrt *ar) Memory used by a given atlasRRT. Definition: atlasrrt.c:4677 Definition of a rrt on a manifold. boolean AtlasRRTValidateSample(Tparameters *pr, double *q_rand, unsigned int tree, boolean expand2goal, unsigned int lastNN2Goal, double *goal, double l, double *h, unsigned int *i_near, TAtlasRRTStatistics *arst, Tatlasrrt *ar) Validates a sample generate with AtlasRRTSample. Definition: atlasrrt.c:3081 boolean AtlasRRT(Tparameters *pr, double *pg, double *time, double *pl, unsigned int *ns, double ***path, TAtlasRRTStatistics *str, Tatlasrrt *ar) Extends a Atlas-RRT until we reach a targed point. Definition: atlasrrt.c:3133 unsigned int nNoEmptyTreeConnection Definition: atlasrrt.h:104 A table of parameters. void AccumulateAtlasRRTStatistics(TAtlasRRTStatistics *arst1, TAtlasRRTStatistics *arst2) Accumulates two sets of Atlas RRT statistics. Definition: atlasrrt.c:492 unsigned int GetAtlasRRTNumNodes(Tatlasrrt *ar) Number of nodes in the AtlasRRT. Definition: atlasrrt.c:4400 boolean AtlasRRTstar(Tparameters *pr, double *pg, unsigned int *it, double *times, double *costs, double *planningTime, double *pl, unsigned int *ns, double ***path, TAtlasRRTStatistics *str, Tatlasrrt *ar) Optimal AtlasRRT on manifolds. Definition: atlasrrt.c:3908 Definition of an atlas on a manifold. boolean AtlasBiRRTstar(Tparameters *pr, double *pg, unsigned int *it, double *times, double *costs, double *planningTime, double *pl, unsigned int *ns, double ***path, TAtlasRRTStatistics *str, Tatlasrrt *ar) Bidirectional version of AtlasRRTstar. Definition: atlasrrt.c:4148 void PrintAtlasRRTStatistics(Tatlasrrt *ar, TAtlasRRTStatistics *arst) Prints the summary of atlasRRT statistics. Definition: atlasrrt.c:538 void LoadAtlasRRT(Tparameters *pr, char *prefix, TAtlasBase *w, Tatlasrrt *ar) Defines an atlasRRT from the information on a file. Definition: atlasrrt.c:4744 void PlotAtlasRRT(char *prefix, int argc, char **arg, Tparameters *pr, unsigned int xID, unsigned int yID, unsigned int zID, Tatlasrrt *ar) Pots a projection of a Atlas-RRT. Definition: atlasrrt.c:4470 unsigned int GetRRTNNInNeighbourChart(unsigned int tree, unsigned int c_rand, double *t_rand, double *q_rand, Tatlasrrt *ar) Selects the nearest point in the chart of Id ChartId, or in a neighbour. Definition: atlasrrt.c:4411 void SaveAtlasRRT(Tparameters *pr, char *prefix, Tatlasrrt *ar) Stores the Atlas-RRT information on a file. Definition: atlasrrt.c:4687 boolean AtlasRRTSample(Tparameters *pr, unsigned int samplingMode, unsigned int it, unsigned int tree, double *goal, double scale, boolean *exploration, unsigned int *c_rand, double *t_rand, double *q_rand, TAtlasRRTStatistics *arst, Tatlasrrt *ar) Generates a random sample to expand the AtlasRRT. Definition: atlasrrt.c:2993 unsigned int GetAtlasRRTNumCharts(Tatlasrrt *ar) Number of charts in the AtlasRRT. Definition: atlasrrt.c:4405 |
Follow us!