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src/ompl/geometric/planners/kpiece/BKPIECE1.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_
00038 #define OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/geometric/planners/kpiece/Discretization.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace geometric
00047     {
00048 
00077         class BKPIECE1 : public base::Planner
00078         {
00079         public:
00080 
00082             BKPIECE1(const base::SpaceInformationPtr &si);
00083 
00084             virtual ~BKPIECE1(void);
00085 
00088             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00089             {
00090                 projectionEvaluator_ = projectionEvaluator;
00091             }
00092 
00095             void setProjectionEvaluator(const std::string &name)
00096             {
00097                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00098             }
00099 
00101             const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const
00102             {
00103                 return projectionEvaluator_;
00104             }
00105 
00111             void setRange(double distance)
00112             {
00113                 maxDistance_ = distance;
00114             }
00115 
00117             double getRange(void) const
00118             {
00119                 return maxDistance_;
00120             }
00121 
00128             void setBorderFraction(double bp)
00129             {
00130                 dStart_.setBorderFraction(bp);
00131                 dGoal_.setBorderFraction(bp);
00132             }
00133 
00136             double getBorderFraction(void) const
00137             {
00138                 return dStart_.getBorderFraction();
00139             }
00140 
00145             void setFailedExpansionCellScoreFactor(double factor)
00146             {
00147                 failedExpansionScoreFactor_ = factor;
00148             }
00149 
00152             double getFailedExpansionCellScoreFactor(void) const
00153             {
00154                 return failedExpansionScoreFactor_;
00155             }
00156 
00163             void setMinValidPathFraction(double fraction)
00164             {
00165                 minValidPathFraction_ = fraction;
00166             }
00167 
00169             double getMinValidPathFraction(void) const
00170             {
00171                 return minValidPathFraction_;
00172             }
00173 
00174             virtual void setup(void);
00175 
00176             virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
00177             virtual void clear(void);
00178 
00179             virtual void getPlannerData(base::PlannerData &data) const;
00180 
00181         protected:
00182 
00184             class Motion
00185             {
00186             public:
00187 
00188                 Motion(void) : root(NULL), state(NULL), parent(NULL)
00189                 {
00190                 }
00191 
00193                 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL)
00194                 {
00195                 }
00196 
00197                 ~Motion(void)
00198                 {
00199                 }
00200 
00202                 const base::State   *root;
00203 
00205                 base::State         *state;
00206 
00208                 Motion              *parent;
00209             };
00210 
00212             void freeMotion(Motion *motion);
00213 
00215             base::ValidStateSamplerPtr                 sampler_;
00216 
00218             base::ProjectionEvaluatorPtr               projectionEvaluator_;
00219 
00221             Discretization<Motion>                     dStart_;
00222 
00224             Discretization<Motion>                     dGoal_;
00225 
00229             double                                     failedExpansionScoreFactor_;
00230 
00236             double                                     minValidPathFraction_;
00237 
00239             double                                     maxDistance_;
00240 
00242             RNG                                        rng_;
00243 
00245             std::pair<base::State*, base::State*>      connectionPoint_;
00246         };
00247 
00248     }
00249 }
00250 
00251 
00252 #endif
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