find a valid path between startnode and goalnode concode_field_sep Robot robot concode_elem_sep int defaultSize concode_elem_sep Logger logger concode_elem_sep Environment environment concode_elem_sep Vector goal concode_elem_sep int numberOfRandomSample concode_elem_sep double RESOLUTION concode_elem_sep Vector start concode_elem_sep Random random concode_elem_sep int numberOfFreeRandomSample concode_field_sep void grow concode_elem_sep Vector getStart concode_elem_sep void incrementSampleNumber concode_elem_sep void incrementFreeSampleNumber concode_elem_sep Trajectory query concode_elem_sep Trajectory query concode_elem_sep Environment getEnvironment concode_elem_sep List<Vector> nearestKNeighbors concode_elem_sep Robot getRobot concode_elem_sep Vector nearestNeighbor concode_elem_sep void setDefaultSize concode_elem_sep int getSize concode_elem_sep double getFreeSampleRate concode_elem_sep void growMap concode_elem_sep Vector getGoal concode_elem_sep void setup concode_elem_sep void reset concode_elem_sep List<Pair<Point2D,Point2D>> getEdges concode_elem_sep Trajectory findPath
Trajectory function ( Vector arg0 , Vector arg1 ) { assert ( arg0 != null && arg1 != null ) ; assert ( arg0 . getDimension ( ) == getRobot ( ) . getDimension ( ) ) ; assert ( arg1 . getDimension ( ) == getRobot ( ) . getDimension ( ) ) ; start = arg0 ; goal = arg1 ; reset ( ) ; setup ( ) ; grow ( defaultSize ) ; return findPath ( ) ; }