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Class for rapidly-exploring random tree navigation
A concrete class that implements the RRT(occgrid, options) create an instance objectrrt | 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 |
'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 |
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© 1990-2011 Peter Corke.