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Fast-RRT-Star/docs/Fast_RRTdocumentation.md
Sravan Balaji 1ab700f27f Repo Re-Org, More like ROS Package 
- Reorganize repo so docker stuff is
  a folder within fast_rrt_ros ROS package
- Update filepaths in README
- Update `build_and_run_docker.bash`
  to use main folder as build context,
  but use Dockerfile inside docker folder
- Update filepaths in Dockerfile
2023-01-26 16:10:58 -05:00

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Fast-RRT* Documentation

FindReachest()

Psuedo Code

Written Explanation

Find the furthest possible node of xNearest's parents from xRand that does not have an obstacle when a straight line is drawn between them.

The selected node xReachest must be chosen from xNearest's ancestors. The starting node may not be selected as xReachest.

Visual

CreateNode()

Psuedo Code

Written Explanation

Creates a node (xCreate) based on xRand, xReachest, and parent (xReachest) locations such that the path is drawn more near to the obstacle in few steps. Remember that these two nodes are guaranteed to have an obstacle between them.

The node is created between xRand and xReachest where the path between xRand and xCreate becomes free of all obstacles.

Visual

1) xAllow and xForbid are set
2) xMid is established between xAllow and xForbid when the path is collision free to xRand
3) xMid is the new xAllow and xRand is the new xForbid
4) a new xMid is established between xAllow and xForbid
4) a new xMid is established between xAllow and xForbid when collision free to parent(xReachest)

Rewire()

Written Explanation

Changes connection relationships of tree vertices. For any point in xNear, if replacing its parent node to be xRand reduces the cost of the path from xStart to xNear, then replace it.

Visual

SampleFree()

Returns a sample xRand that is selected randomly from xFree.

Nearest()

Nearest vector to xRand in terms of Euclidean distance.

Near()

Return the set of vectors contained in specific radius around xRand.