ompl/geometric/planners/rrt/pRRT.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2008, Willow Garage, Inc.
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 Willow Garage 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_RRT_pRRT_
00038 #define OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/base/StateSamplerArray.h"
00042 #include "ompl/datastructures/NearestNeighbors.h"
00043 #include <boost/thread/mutex.hpp>
00044 
00045 namespace ompl
00046 {
00047 
00048     namespace geometric
00049     {
00050 
00067         class pRRT : public base::Planner
00068         {
00069         public:
00070 
00071             pRRT(const base::SpaceInformationPtr &si);
00072 
00073             virtual ~pRRT();
00074 
00075             virtual void getPlannerData(base::PlannerData &data) const;
00076 
00077             virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
00078 
00079             virtual void clear();
00080 
00090             void setGoalBias(double goalBias)
00091             {
00092                 goalBias_ = goalBias;
00093             }
00094 
00096             double getGoalBias() const
00097             {
00098                 return goalBias_;
00099             }
00100 
00106             void setRange(double distance)
00107             {
00108                 maxDistance_ = distance;
00109             }
00110 
00112             double getRange() const
00113             {
00114                 return maxDistance_;
00115             }
00116 
00118             void setThreadCount(unsigned int nthreads);
00119 
00120             unsigned int getThreadCount() const
00121             {
00122                 return threadCount_;
00123             }
00124 
00126             template<template<typename T> class NN>
00127             void setNearestNeighbors()
00128             {
00129                 nn_.reset(new NN<Motion*>());
00130             }
00131 
00132             virtual void setup();
00133 
00134         protected:
00135 
00136             class Motion
00137             {
00138             public:
00139 
00140                 Motion() : state(NULL), parent(NULL)
00141                 {
00142                 }
00143 
00144                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
00145                 {
00146                 }
00147 
00148                 ~Motion()
00149                 {
00150                 }
00151 
00152                 base::State       *state;
00153                 Motion            *parent;
00154 
00155             };
00156 
00157             struct SolutionInfo
00158             {
00159                 Motion      *solution;
00160                 Motion      *approxsol;
00161                 double       approxdif;
00162                 boost::mutex lock;
00163             };
00164 
00165             void threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol);
00166             void freeMemory();
00167 
00168             double distanceFunction(const Motion *a, const Motion *b) const
00169             {
00170                 return si_->distance(a->state, b->state);
00171             }
00172 
00173             base::StateSamplerArray<base::StateSampler>         samplerArray_;
00174             boost::shared_ptr< NearestNeighbors<Motion*> >      nn_;
00175             boost::mutex                                        nnLock_;
00176 
00177             unsigned int                                        threadCount_;
00178 
00179             double                                              goalBias_;
00180             double                                              maxDistance_;
00181 
00183             Motion                                              *lastGoalMotion_;
00184         };
00185 
00186     }
00187 }
00188 
00189 #endif
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines