M-File Help: RRT View code for RRT

RRT

Class for rapidly-exploring random tree navigation

A concrete class that implements the RRT(occgrid, options) create an instance object
rrt show summary statistics about the object
rrt.visualize() display the occupancy grid
rrt.plan(goal) plan a path to coordinate goal
rrt.path(start) display a path from start to goal
p = rrt.path(start) return a path from start to goal

Options

'npoints', N Number of nodes in the tree
'time', T Period to simulate dynamic model toward random point
'xrange', X Workspace span in x-direction [xmin xmax]
'yrange', Y Workspace span in y-direction [ymin ymax]
'goal', P Goal position (1x2) or pose (1x3) in workspace

Notes


RRT.visualize

;


 

© 1990-2011 Peter Corke.