Module rrtTree :: Class RRTTree
[hide private]
[frames] | no frames]

Class RRTTree

source code


Interface for an RRT. Based on the paper: http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.36.7457

Instance Methods [hide private]
 
addNode(self, node)
Adds a new node to the tree.
source code
 
getPathTo(self, currentState)
Returns a path (a sequence of actions) from root to currentState.
source code
 
findClosestNode(self, newState)
Find closest node in the RRT w.r.t.
source code
Method Details [hide private]

getPathTo(self, currentState)

source code 

Returns a path (a sequence of actions) from root to currentState.

Keyword arguments:
currentState -- ShipExternalState to which we want a path from the 
                initial state.

Returns:
A path of actions that would bring us to currentState

findClosestNode(self, newState)

source code 

Find closest node in the RRT w.r.t. x, y, orientation. 

Keyword arguments:
newState -- ShipExternalState that is going to be part of the
            new tree node.

Returns:
RRTNode which is the noded closest to 'newState' in the current RRT