rrt.h
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unsigned int GetRRTParent(unsigned int i, Trrt *rrt) Returns identifier of the parent of one of the nodes of the RRT. Definition: rrt.c:3547 void AdjustDynamicDomain(unsigned int i, boolean collision, Trrt *rrt) Sets the dynamic domain. Definition: rrt.c:3482 double GetRRTNodeCostFromParent(unsigned int i, Trrt *rrt) Returns the cost from the parent node, if defined. Definition: rrt.c:3596 boolean RRTSample(unsigned int samplingMode, unsigned int tree, double *goal, double *q_rand, TRRTStatistics *rst, Trrt *rrt) Generates a random sample to expand the RRT. Definition: rrt.c:1471 Data structure to hold the information about the name of a file. Definition: filename.h:248 boolean ccTRRT(Tparameters *pr, double *pg, double *time, double *pl, double *pc, unsigned int *ns, double ***path, double(*costF)(Tparameters *, boolean, double *, void *), void *costData, TRRTStatistics *grst, Trrt *rrt) Extends a T-RRT until we reach a targed point. Definition: rrt.c:2823 void PlotRRT(char *fname, int argc, char **arg, Tparameters *pr, unsigned int xID, unsigned int yID, unsigned int zID, Trrt *rrt) Pots a projection of a RRT. Definition: rrt.c:3729 void AddEdgeToRRT(unsigned int i, unsigned int j, double c, Trrt *rrt) Adds a neighbouring relation to an RRT. Definition: rrt.c:784 boolean AddNodeToRRT(Tparameters *pr, unsigned int tree, unsigned int i_near, double *sample, double *goal, unsigned int *lastSample, void *info, double costp, double cost, TRRTStatistics *rst, Trrt *rrt) Adds a point to a RRT. Definition: rrt.c:1869 void SaveRRTNodes(Tparameters *pr, char *fname, boolean saveWithDummies, Trrt *rrt) Stores the nodes of the RRT. Definition: rrt.c:3878 void InitRRT(Tparameters *pr, boolean parallel, boolean simp, double *ps, unsigned int mode, boolean graph, double *pg, unsigned int m, TAtlasBase *w, Trrt *rrt) Defines a RRT from a given point. Definition: rrt.c:1204 unsigned int GetRRTNN(unsigned int tree, double *q_rand, Trrt *rrt) Locates the nearest sample in the tree of samples. Definition: rrt.c:1547 boolean TransitionTestRRT(Tparameters *pr, unsigned int parent, double *q_next, double deltaStep, double *cost, double(*costF)(Tparameters *, boolean, double *, void *), void *costData, Trrt *rrt) transition Test for Transition RRT Definition: rrt.c:809 double RRTPathSteps(unsigned int sID, Tvector *path, Trrt *rrt) Produces a vector with the nodes in a given branch. Definition: rrt.c:3277 void SaveRRTCosts(Tparameters *pr, char *fname, Trrt *rrt) Stores the cost associated with the nodes of the RRT. Definition: rrt.c:3929 double ChangeBiRRTSteps(unsigned int l1, unsigned int l2, double c12, Tvector *steps, Trrt *rrt) Changes the optimal path in a bidirectional RRT. Definition: rrt.c:3298 void SetRRTParent(unsigned int i, unsigned int p, Trrt *rrt) Changes the parent for a given node. Definition: rrt.c:3555 boolean RRTstar(Tparameters *pr, double *pg, unsigned int *it, double *times, double *costs, double *planningTime, double *pl, unsigned int *ns, double ***path, TRRTStatistics *grst, Trrt *rrt) Optimal RRT on manifolds. Definition: rrt.c:2352 void LoadRRT(Tparameters *pr, Tfilename *fname, TAtlasBase *w, Trrt *rrt) Defines a RRT from the information on a file. Definition: rrt.c:4036 boolean RRTValidateSample(Tparameters *pr, double *q_rand, unsigned int tree, boolean expand2goal, double *goal, double l, double *h, unsigned int *i_near, TRRTStatistics *rst, Trrt *rrt) Validates a sample generate with RRTSample. Definition: rrt.c:1510 boolean PathStart2GoalInRRT(Tparameters *pr, double *pgs, unsigned int l1, unsigned int l2, double *pl, double *pc, unsigned int *ns, double ***path, Trrt *rrt) Determines the path from start to goal using an RRT. Definition: rrt.c:3402 double * GetRRTNode(unsigned int i, Trrt *rrt) Returns one of the nodes of the RRT. Definition: rrt.c:3526 unsigned int StepsToRoot(unsigned int sID, Trrt *rrt) Computes the number of steps from a node to the root. Definition: rrt.c:3714 Definition of a binary heap used to implement priority queues. boolean InDynamicDomain(unsigned int i, double *q, Trrt *rrt) Checks if a sample is in the dynamic domaiin of a given node. Definition: rrt.c:3474 boolean ccRRT(Tparameters *pr, double *pg, double *time, double *pl, unsigned int *ns, double ***path, TRRTStatistics *grst, Trrt *rrt) Extends a RRT until we reach a targed point. Definition: rrt.c:2966 void RecursiveReWireRRTstar(Tparameters *pr, Theap *q, double *g, Tvector *steps, double *l, Trrt *rrt) A rewire that is propagates as much as necessary over the graph. Definition: rrt.c:2145 double UpdateBiRRTSteps(Tvector *steps, Trrt *rrt) Updates the current optimal path. Definition: rrt.c:3357 void SetRRTNodeInfo(unsigned int i, void *info, Trrt *rrt) Changes the user info associated with a node. Definition: rrt.c:3580 A table of parameters. void GetRRTNNInBranch(unsigned int tree, unsigned int n1, unsigned int n2, unsigned int *n, unsigned int *nn, Trrt *rrt) Locates the nearest sample in the tree to a branch. Definition: rrt.c:1775 unsigned int GetRRTNodeTree(unsigned int i, Trrt *rrt) Returns the tree for a given node. Definition: rrt.c:3534 double GetRRTNodeCost(unsigned int i, Trrt *rrt) Returns the cost associated with a node. Definition: rrt.c:3588 void SaveRRT(Tfilename *fname, Trrt *rrt) Stores the RRT information on a file. Definition: rrt.c:3985 void GetRRTNNInBall(unsigned int tree, double *q_rand, double r, unsigned int *nn, unsigned int **n, Trrt *rrt) Locates the all the sample closer than a given distance. Definition: rrt.c:1654 Definition of the Tvector type and the associated functions. void SetRRTCostAndParent(unsigned int i, unsigned int p, double costp, double cost, Trrt *rrt) Changes the cost and the parent associated with a node. Definition: rrt.c:3615 double CostToRoot(unsigned int sID, Trrt *rrt) Computes the cost from a node to the root. Definition: rrt.c:3638 void UpdateCostAndTree(unsigned int sID, Trrt *rrt) A combination of UpdateCostToRoot and UpdateTree. Definition: rrt.c:3687 void SetRRTNodeCost(unsigned int i, double costp, double cost, Trrt *rrt) Changes the cost associated with a node. Definition: rrt.c:3604 void UpdateCostToRoot(unsigned int sID, Trrt *rrt) Updates the cost from a node to the root. Definition: rrt.c:3653 Macros and functions to operate on worlds/cuiksystems. void PrintRRTStatistics(Trrt *rrt, TRRTStatistics *rst) Prints the summary of RRT statistics. Definition: rrt.c:352 boolean BiRRTstar(Tparameters *pr, double *pg, unsigned int *it, double *times, double *costs, double *planningTime, double *pl, unsigned int *ns, double ***path, TRRTStatistics *grst, Trrt *rrt) Optimal RRT on manifolds. Definition: rrt.c:2584 void AccumulateRRTStatistics(TRRTStatistics *rst1, TRRTStatistics *rst2) Accumulates two sets of RRT statistics. Definition: rrt.c:318 Definition of the Tparameters type and the associated functions. void UpdateTree(unsigned int sID, Trrt *rrt) Updates the tree assignment a node to the root. Definition: rrt.c:3658 boolean cBiRRT(Tparameters *pr, double *pg, double *time, double *pl, unsigned int *ns, double ***path, TRRTStatistics *grst, Trrt *rrt) Extends a RRT until we reach a targed point. Definition: rrt.c:3099 unsigned int * GetRRTTopology(Trrt *rrt) Returns a pointer to an array with the topology for each variable. Definition: rrt.c:3633 void * GetRRTNodeInfo(unsigned int i, Trrt *rrt) Returns the user info associated with a node. Definition: rrt.c:3572 double GetDynamicDomainRadius(unsigned int i, Trrt *rrt) Returns the current dynamic domain radius for a given sample. Definition: rrt.c:3508 |
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