Detailed Description

This can be seen in two ways:

Defines a RRT where the sampling is guided using an atlas.
Defines an atlas where the expansion is guided by an RRT.

Definition at line 190 of file atlasrrt.h.

Data Fields
TAtlasBase *	w

unsigned int	m

unsigned int	k

double	e

double	ce

double	r

boolean	birrt

boolean	parallel

Tbox	ambient

unsigned int *	tp

TJacobian	J

Trrt	rrt

Tatlas	atlas

unsigned int	ms

unsigned int	ns

TSampleInfo **	si

unsigned int	mc

unsigned int	nc

TChartInfo **	ci

unsigned int	mct1

unsigned int	nct1

unsigned int *	chartsAtTree1

unsigned int	mct2

unsigned int	nct2

unsigned int *	chartsAtTree2

Field Documentation

TAtlasBase* Tatlasrrt::w

The world on which the atlas is defined

Definition at line 191 of file atlasrrt.h.

Referenced by AtlasRRT(), AtlasRRTSample(), AtlasRRTstar(), AtlasTRRT(), InitAtlasRRT(), LoadAtlasRRT(), NewTemptativeSample(), PlotAtlasRRT(), PlotConnection(), PlotQrand(), ReconstructAtlasRRTPath(), Steps2PathinAtlasRRT(), and WireAtlasRRTstar().

unsigned int Tatlasrrt::m

Number of variables. Dimension of the ambient space.

Definition at line 193 of file atlasrrt.h.

Referenced by AddBranchToAtlasRRT(), AddSample2AtlasRRT(), AddStepToAtlasRRTstar(), AtlasBiRRTstar(), AtlasRRT(), AtlasRRTSample(), AtlasRRTstar(), AtlasRRTValidateSample(), AtlasTRRT(), GetRRTNNInChart(), InitAtlasRRT(), LoadAtlasRRT(), NewTemptativeSample(), PlotAtlasRRT(), PlotQrand(), SaveAtlasRRT(), and WireAtlasRRTstar().

unsigned int Tatlasrrt::k

Dimension of the manifold

Definition at line 194 of file atlasrrt.h.

Referenced by AddBranchToAtlasRRT(), AddChart2AtlasRRT(), AddSample2AtlasRRT(), AtlasBiRRTstar(), AtlasRRT(), AtlasRRTSample(), AtlasRRTstar(), AtlasTRRT(), InitAtlasRRT(), LoadAtlasRRT(), LoadAtlasRRTSampleInfo(), NewTemptativeSample(), PlotAtlasRRT(), PointTowardRandSample(), PopulateWithSamples(), RandomPointInAtlasTree(), SaveAtlasRRT(), SaveAtlasRRTSampleInfo(), and WireAtlasRRTstar().

double Tatlasrrt::e

Maximum error for the linear approximation of the manifold.

Definition at line 195 of file atlasrrt.h.

Referenced by InitAtlasRRT(), LoadAtlasRRT(), NewTemptativeSample(), and SaveAtlasRRT().

double Tatlasrrt::ce

Maximum error cuvature between the charts and the manifold

Definition at line 196 of file atlasrrt.h.

Referenced by InitAtlasRRT(), LoadAtlasRRT(), NewTemptativeSample(), and SaveAtlasRRT().

double Tatlasrrt::r

Radius around p (in tangent space) where the linearization holds.

Definition at line 197 of file atlasrrt.h.

Referenced by AtlasRRTSample(), InitAtlasRRT(), LoadAtlasRRT(), NewTemptativeSample(), and SaveAtlasRRT().

boolean Tatlasrrt::birrt

TRUE if the atlaRRT is to be bidirectional: one tree from the start sample and one from the goal. FALSE if the tree is to be one-dimensinal.

Definition at line 200 of file atlasrrt.h.

Referenced by AddChart2AtlasRRT(), AddChart2Tree(), AtlasBiRRTstar(), AtlasRRT(), AtlasRRTSample(), AtlasRRTstar(), AtlasTRRT(), DeleteAtlasRRT(), GetRRTNNInChart(), InitAtlasRRT(), LoadAtlasRRT(), NewTemptativeSample(), PlotAtlasRRT(), RandomPointInAtlasTree(), and SaveAtlasRRT().

boolean Tatlasrrt::parallel

TRUE if the AtlasRRT wil be processed (e.g., build) in parallel. Up to now this is always FALSE but when using the AtlasRRT* procedure where the wire is executed in parallel.

Definition at line 204 of file atlasrrt.h.

Referenced by AtlasBiRRTstar(), AtlasRRTstar(), InitAtlasRRT(), LoadAtlasRRT(), and WireAtlasRRTstar().

Tbox Tatlasrrt::ambient

Axis aligned bounding box enclosing the manifolds.

Definition at line 209 of file atlasrrt.h.

Referenced by AddChart2AtlasRRT(), AtlasRRT(), AtlasRRTstar(), AtlasTRRT(), DeleteAtlasRRT(), InitAtlasRRT(), LoadAtlasRRT(), NewTemptativeSample(), and WireAtlasRRTstar().