Expand description
Bidirectional RRT (Rapidly-exploring Random Tree) path planning algorithm
Grows two trees simultaneously — one from start, one from goal — and attempts to connect them each iteration for faster convergence.
Structs§
- Area
Bounds - Axis-aligned bounding box for the random-sampling area
- BidirectionalRRT
Config - Configuration for the Bidirectional RRT planner
- BidirectionalRRT
Planner - Bidirectional RRT path planner
- Circle
Obstacle - Circular obstacle (x, y, radius)
- RRTNode
- Internal node for a Bidirectional RRT tree