Module batch_informed_rrt_star 

Batch Informed RRT* path planning algorithm

Extends Informed RRT* with batch sampling for improved convergence. Instead of sampling one point per iteration, a batch of samples is drawn from the informed ellipsoidal region (or free space if no solution exists yet) and processed together. After each batch the best solution cost is updated and the sampling ellipsoid shrinks, focusing future samples on the promising region.

Reference: https://arxiv.org/abs/1405.5848

Structs

BatchInformedRRTStar

Batch Informed RRT* planner.

BatchInformedRRTStarConfig

Configuration for the Batch Informed RRT* planner.

Node

A node in the RRT tree.