RRT Variants

This section groups the Rapidly-exploring Random Tree (RRT) family in DiscoPygal. Use these solvers when you want tree-based sampling planners and their optimal or multi-robot variants.

• Rapidly-exploring Random Tree (RRT)
  • Architectural Design & Algorithm Flow
  • Parameters & Configuration
  • Usage Example
  • API Reference
    • RRT
• RRT*
  • RRT_star
    • RRT_star.build_roadmap()
    • RRT_star.get_arguments()
• Informed RRT*
  • Informed_RRT_star
    • Informed_RRT_star.get_arguments()
    • Informed_RRT_star.in_goal_region()
• BiRRT
  • BiRRT
    • BiRRT.build_roadmap()
    • BiRRT.get_arguments()
• dRRT
  • dRRT
    • dRRT.build_robot_roadmap()
    • dRRT.get_arguments()
    • dRRT.search_tensor_roadmap()
• dRRT*
  • dRRT_star
    • dRRT_star.get_arguments()
    • dRRT_star.informed_expansion()
    • dRRT_star.search_tensor_roadmap()
• ao-dRRT
  • ao_dRRT
    • ao_dRRT.get_arguments()
    • ao_dRRT.search_tensor_roadmap()
• LBT-rrt
  • LBT_RRT
    • LBT_RRT.build_roadmap()
    • LBT_RRT.consider_edge()
    • LBT_RRT.get_arguments()
• Contact Guided RRT
  • Contact_Guided_RRT
    • Contact_Guided_RRT.add_edge()
    • Contact_Guided_RRT.add_node()
    • Contact_Guided_RRT.build_roadmap()
    • Contact_Guided_RRT.collision_free()
    • Contact_Guided_RRT.get_arguments()
    • Contact_Guided_RRT.get_dist()
    • Contact_Guided_RRT.get_graph()
    • Contact_Guided_RRT.get_nearest_vertex()
    • Contact_Guided_RRT.point_to_vec3()
    • Contact_Guided_RRT.sample_random_point()
    • Contact_Guided_RRT.search_path_on_roadmap()
    • Contact_Guided_RRT.steer()