Class for objects that plan using the RRT* algorithm.
Public Functions
-
RRTStar(std::vector<std::vector<int>> grid)
Constructor.
- Return
- no return value
- Parameters
grid: the grid on which the planner is to plan
-
void
SetParams(const int threshold = 2, const int max_iter_x_factor = 20)
-
std::tuple<bool, std::vector<Node>>
Plan(const Node &start, const Node &goal)
RRT* algorithm implementation.
- Return
- tuple contatining a bool as to whether a path was found, and the path
- Parameters
start: start node goal: goal node