ompl/geometric/planners/sbl/pSBL.h
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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_SBL_pSBL_ 00038 #define OMPL_GEOMETRIC_PLANNERS_SBL_pSBL_ 00039 00040 #include "ompl/geometric/planners/PlannerIncludes.h" 00041 #include "ompl/base/ProjectionEvaluator.h" 00042 #include "ompl/base/StateSamplerArray.h" 00043 #include "ompl/datastructures/Grid.h" 00044 #include "ompl/datastructures/PDF.h" 00045 #include <boost/thread/mutex.hpp> 00046 #include <vector> 00047 00048 namespace ompl 00049 { 00050 00051 namespace geometric 00052 { 00053 00087 class pSBL : public base::Planner 00088 { 00089 public: 00090 00091 pSBL(const base::SpaceInformationPtr &si); 00092 00093 virtual ~pSBL(); 00094 00097 void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator) 00098 { 00099 projectionEvaluator_ = projectionEvaluator; 00100 } 00101 00104 void setProjectionEvaluator(const std::string &name) 00105 { 00106 projectionEvaluator_ = si_->getStateSpace()->getProjection(name); 00107 } 00108 00110 const base::ProjectionEvaluatorPtr& getProjectionEvaluator() const 00111 { 00112 return projectionEvaluator_; 00113 } 00114 00120 void setRange(double distance) 00121 { 00122 maxDistance_ = distance; 00123 } 00124 00126 double getRange() const 00127 { 00128 return maxDistance_; 00129 } 00130 00132 void setThreadCount(unsigned int nthreads); 00133 00135 unsigned int getThreadCount() const 00136 { 00137 return threadCount_; 00138 } 00139 00140 virtual void setup(); 00141 00142 virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc); 00143 00144 virtual void clear(); 00145 00146 virtual void getPlannerData(base::PlannerData &data) const; 00147 00148 protected: 00149 00150 class Motion; 00151 struct MotionInfo; 00152 00154 typedef Grid<MotionInfo>::Cell GridCell; 00155 00157 typedef PDF<GridCell*> CellPDF; 00158 00159 class Motion 00160 { 00161 public: 00162 00163 Motion() : root(NULL), state(NULL), parent(NULL), valid(false) 00164 { 00165 } 00166 00167 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL), valid(false) 00168 { 00169 } 00170 00171 ~Motion() 00172 { 00173 } 00174 00175 const base::State *root; 00176 base::State *state; 00177 Motion *parent; 00178 bool valid; 00179 std::vector<Motion*> children; 00180 boost::mutex lock; 00181 }; 00182 00184 struct MotionInfo 00185 { 00186 Motion* operator[](unsigned int i) 00187 { 00188 return motions_[i]; 00189 } 00190 std::vector<Motion*>::iterator begin() 00191 { 00192 return motions_.begin(); 00193 } 00194 void erase(std::vector<Motion*>::iterator iter) 00195 { 00196 motions_.erase(iter); 00197 } 00198 void push_back(Motion *m) 00199 { 00200 motions_.push_back(m); 00201 } 00202 unsigned int size() const 00203 { 00204 return motions_.size(); 00205 } 00206 bool empty() const 00207 { 00208 return motions_.empty(); 00209 } 00210 std::vector<Motion*> motions_; 00211 CellPDF::Element *elem_; 00212 }; 00213 00214 struct TreeData 00215 { 00216 TreeData() : grid(0), size(0) 00217 { 00218 } 00219 00220 Grid<MotionInfo> grid; 00221 unsigned int size; 00222 CellPDF pdf; 00223 boost::mutex lock; 00224 }; 00225 00226 struct SolutionInfo 00227 { 00228 std::vector<Motion*> solution; 00229 bool found; 00230 boost::mutex lock; 00231 }; 00232 00233 struct PendingRemoveMotion 00234 { 00235 TreeData *tree; 00236 Motion *motion; 00237 }; 00238 00239 struct MotionsToBeRemoved 00240 { 00241 std::vector<PendingRemoveMotion> motions; 00242 boost::mutex lock; 00243 }; 00244 00245 void threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol); 00246 00247 void freeMemory() 00248 { 00249 freeGridMotions(tStart_.grid); 00250 freeGridMotions(tGoal_.grid); 00251 } 00252 00253 void freeGridMotions(Grid<MotionInfo> &grid); 00254 00255 void addMotion(TreeData &tree, Motion *motion); 00256 Motion* selectMotion(RNG &rng, TreeData &tree); 00257 void removeMotion(TreeData &tree, Motion *motion, std::map<Motion*, bool> &seen); 00258 bool isPathValid(TreeData &tree, Motion *motion); 00259 bool checkSolution(RNG &rng, bool start, TreeData &tree, TreeData &otherTree, Motion *motion, std::vector<Motion*> &solution); 00260 00261 00262 base::StateSamplerArray<base::ValidStateSampler> samplerArray_; 00263 base::ProjectionEvaluatorPtr projectionEvaluator_; 00264 00265 TreeData tStart_; 00266 TreeData tGoal_; 00267 00268 MotionsToBeRemoved removeList_; 00269 boost::mutex loopLock_; 00270 boost::mutex loopLockCounter_; 00271 unsigned int loopCounter_; 00272 00273 double maxDistance_; 00274 00275 unsigned int threadCount_; 00276 00278 std::pair<base::State*, base::State*> connectionPoint_; 00279 }; 00280 00281 } 00282 } 00283 00284 #endif