ompl/control/planners/syclop/SyclopEST.h
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00034 
00035 /* Author: Matt Maly */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPEST_
00038 #define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPEST_
00039 
00040 #include "ompl/control/planners/syclop/Syclop.h"
00041 #include "ompl/control/planners/syclop/Decomposition.h"
00042 #include "ompl/control/planners/syclop/GridDecomposition.h"
00043 
00044 namespace ompl
00045 {
00046     namespace control
00047     {
00051         class SyclopEST : public Syclop
00052         {
00053         public:
00055             SyclopEST(const SpaceInformationPtr& si, const DecompositionPtr &d) : Syclop(si,d,"SyclopEST")
00056             {
00057             }
00058 
00059             virtual ~SyclopEST()
00060             {
00061                 freeMemory();
00062             }
00063 
00064             virtual void setup();
00065             virtual void clear();
00066             virtual void getPlannerData(base::PlannerData &data) const;
00067 
00068         protected:
00069             virtual Syclop::Motion* addRoot(const base::State *s);
00070             virtual void selectAndExtend(Region &region, std::vector<Motion*> &newMotions);
00071 
00073             void freeMemory();
00074 
00075             base::StateSamplerPtr sampler_;
00076             ControlSamplerPtr controlSampler_;
00077             std::vector<Motion*> motions_;
00078 
00080             Motion *lastGoalMotion_;
00081         };
00082     }
00083 }
00084 #endif
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