00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Rice University, 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Rice University nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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