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src/ompl/contrib/rrt_star/RRTstar.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
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00034 
00035 /* Authors: Alejandro Perez, Sertac Karaman, Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTRIB_RRT_STAR_RRTSTAR_
00038 #define OMPL_CONTRIB_RRT_STAR_RRTSTAR_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/datastructures/NearestNeighbors.h"
00042 #include "ompl/base/spaces/RealVectorStateSpace.h"
00043 #include <limits>
00044 #include <vector>
00045 
00046 
00047 namespace ompl
00048 {
00049 
00050     namespace geometric
00051     {
00052 
00074         class RRTstar : public base::Planner
00075         {
00076         public:
00077 
00078             RRTstar(const base::SpaceInformationPtr &si);
00079 
00080             virtual ~RRTstar(void);
00081 
00082             virtual void getPlannerData(base::PlannerData &data) const;
00083 
00084             virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
00085 
00086             virtual void clear(void);
00087 
00097             void setGoalBias(double goalBias)
00098             {
00099                 goalBias_ = goalBias;
00100             }
00101 
00103             double getGoalBias(void) const
00104             {
00105                 return goalBias_;
00106             }
00107 
00113             void setRange(double distance)
00114             {
00115                 maxDistance_ = distance;
00116             }
00117 
00119             double getRange(void) const
00120             {
00121                 return maxDistance_;
00122             }
00123 
00133             void setBallRadiusConstant(double ballRadiusConstant)
00134             {
00135                 ballRadiusConst_ = ballRadiusConstant;
00136             }
00137 
00141             double getBallRadiusConstant(void) const
00142             {
00143                 return ballRadiusConst_;
00144             }
00145 
00154             void setMaxBallRadius(double maxBallRadius)
00155             {
00156                 ballRadiusMax_ = maxBallRadius;
00157             }
00158 
00161             double getMaxBallRadius(void) const
00162             {
00163                 return ballRadiusMax_;
00164             }
00165 
00167             template<template<typename T> class NN>
00168             void setNearestNeighbors(void)
00169             {
00170                 nn_.reset(new NN<Motion*>());
00171             }
00172 
00180             void setDelayCC(bool delayCC)
00181             {
00182                 delayCC_ = delayCC;
00183             }
00184 
00186             bool getDelayCC(void) const
00187             {
00188                 return delayCC_;
00189             }
00190 
00191             virtual void setup(void);
00192 
00193         protected:
00194 
00195 
00197             class Motion
00198             {
00199             public:
00200 
00201                 Motion(void) : state(NULL), parent(NULL), cost(0.0)
00202                 {
00203                 }
00204 
00206                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL), cost(0.0)
00207                 {
00208                 }
00209 
00210                 ~Motion(void)
00211                 {
00212                 }
00213 
00215                 base::State       *state;
00216 
00218                 Motion            *parent;
00219 
00221                 double             cost;
00222 
00224                 std::vector<Motion*> children;
00225             };
00226 
00228             void freeMemory(void);
00229 
00231             static bool compareMotion(const Motion* a, const Motion* b)
00232             {
00233                 return (a->cost < b->cost);
00234             }
00235 
00237             double distanceFunction(const Motion* a, const Motion* b) const
00238             {
00239                 return si_->distance(a->state, b->state);
00240             }
00241 
00243             void removeFromParent(Motion *m);
00244 
00246             void updateChildCosts(Motion *m, double delta);
00247 
00249             base::StateSamplerPtr                          sampler_;
00250 
00252             boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
00253 
00255             double                                         goalBias_;
00256 
00258             double                                         maxDistance_;
00259 
00261             RNG                                            rng_;
00262 
00264             double                                         ballRadiusConst_;
00265 
00267             double                                         ballRadiusMax_;
00268 
00270             bool                                           delayCC_;
00271 
00272         };
00273 
00274     }
00275 }
00276 
00277 #endif
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