Expand description
Deterministic, allocation-free $N$-DOF joint-space RRT* for copper-rs.
CuJointRrtStar is the sampling-based implementation of
repose_motion_planning::CuJointPlanner: begin validates the request and
seeds the tree (connecting start and goal directly when the line is free),
and each step runs a bounded number of RRT* iterations with informed
pruning, neighbourhood rewiring, and line-of-sight shortcutting on output.
All randomness comes from the job seed, so replay reproduces every plan.
CuJointRrtStarTask is the generic planner task running RRT*; its node
config is repose_motion_planning::CuJointPlannerParams with a
CuJointRrtStarParams params block:
(
id: "planner",
type: "repose_joint_rrt_star::CuJointRrtStarTask<6>",
config: {
"chain": "igus_rebel",
"collision_model": "igus_rebel",
"params": {"step_size": 0.3, "goal_bias": 0.2, "max_nodes": 200},
"base_budget": 64,
"refine_budget": 32,
},
)Request and path payloads (repose_motion_planning::CuJointPlanRequest,
repose_motion_planning::CuJointPlanPath) come from repose-motion-planning.
Structs§
- CuJoint
RrtStar - Allocation-free fixed-capacity joint-space RRT* solver.
- CuJoint
RrtStar Params - Parameters of
CuJointRrtStar.
Constants§
- RRT_
STAR_ MAX_ NODES - Fixed capacity of tree nodes in
CuJointRrtStar.