ompl/geometric/planners/kpiece/KPIECE1.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_KPIECE1_
00038 #define OMPL_GEOMETRIC_PLANNERS_KPIECE_KPIECE1_
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 
00049 
00074         class KPIECE1 : public base::Planner
00075         {
00076         public:
00077 
00079             KPIECE1(const base::SpaceInformationPtr &si);
00080 
00081             virtual ~KPIECE1();
00082 
00083             virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
00084 
00085             virtual void clear();
00086 
00096             void setGoalBias(double goalBias)
00097             {
00098                 goalBias_ = goalBias;
00099             }
00100 
00102             double getGoalBias() const
00103             {
00104                 return goalBias_;
00105             }
00106 
00112             void setRange(double distance)
00113             {
00114                 maxDistance_ = distance;
00115             }
00116 
00118             double getRange() const
00119             {
00120                 return maxDistance_;
00121             }
00122 
00129             void setBorderFraction(double bp)
00130             {
00131                 disc_.setBorderFraction(bp);
00132             }
00133 
00136             double getBorderFraction() const
00137             {
00138                 return disc_.getBorderFraction();
00139             }
00140 
00147             void setMinValidPathFraction(double fraction)
00148             {
00149                 minValidPathFraction_ = fraction;
00150             }
00151 
00153             double getMinValidPathFraction() const
00154             {
00155                 return minValidPathFraction_;
00156             }
00157 
00162             void setFailedExpansionCellScoreFactor(double factor)
00163             {
00164                 failedExpansionScoreFactor_ = factor;
00165             }
00166 
00169             double getFailedExpansionCellScoreFactor() const
00170             {
00171                 return failedExpansionScoreFactor_;
00172             }
00173 
00176             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00177             {
00178                 projectionEvaluator_ = projectionEvaluator;
00179             }
00180 
00183             void setProjectionEvaluator(const std::string &name)
00184             {
00185                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00186             }
00187 
00189             const base::ProjectionEvaluatorPtr& getProjectionEvaluator() const
00190             {
00191                 return projectionEvaluator_;
00192             }
00193 
00194             virtual void setup();
00195 
00196             virtual void getPlannerData(base::PlannerData &data) const;
00197 
00198         protected:
00199 
00201             class Motion
00202             {
00203             public:
00204 
00205                 Motion() : state(NULL), parent(NULL)
00206                 {
00207                 }
00208 
00210                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
00211                 {
00212                 }
00213 
00214                 ~Motion()
00215                 {
00216                 }
00217 
00219                 base::State       *state;
00220 
00222                 Motion            *parent;
00223             };
00224 
00226             void freeMotion(Motion *motion);
00227 
00229             base::StateSamplerPtr                      sampler_;
00230 
00232             Discretization<Motion>                     disc_;
00233 
00237             base::ProjectionEvaluatorPtr               projectionEvaluator_;
00238 
00242             double                                     failedExpansionScoreFactor_;
00243 
00245             double                                     goalBias_;
00246 
00252             double                                     minValidPathFraction_;
00253 
00255             double                                     maxDistance_;
00256 
00258             RNG                                        rng_;
00259 
00261             Motion                                     *lastGoalMotion_;
00262         };
00263 
00264     }
00265 }
00266 
00267 #endif
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