ompl/control/planners/syclop/SyclopRRT.h
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00034 
00035 /* Author: Matt Maly */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
00038 #define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
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 #include "ompl/datastructures/NearestNeighbors.h"
00044 
00045 namespace ompl
00046 {
00047     namespace control
00048     {
00052         class SyclopRRT : public Syclop
00053         {
00054         public:
00056             SyclopRRT(const SpaceInformationPtr& si, const DecompositionPtr &d) : Syclop(si,d,"SyclopRRT"), regionalNN_(false)
00057             {
00058             }
00059 
00060             virtual ~SyclopRRT()
00061             {
00062                 freeMemory();
00063             }
00064 
00065             virtual void setup();
00066             virtual void clear();
00067             virtual void getPlannerData(base::PlannerData &data) const;
00068 
00075             void setRegionalNearestNeighbors(bool enabled)
00076             {
00077                 regionalNN_ = enabled;
00078             }
00079 
00081             template<template<typename T> class NN>
00082             void setNearestNeighbors()
00083             {
00084                 regionalNN_ = false;
00085                 nn_.reset(new NN<Motion*>());
00086             }
00087 
00088         protected:
00089             virtual Syclop::Motion* addRoot(const base::State *s);
00090             virtual void selectAndExtend(Region &region, std::vector<Motion*> &newMotions);
00091 
00093             void freeMemory();
00094 
00096             double distanceFunction(const Motion *a, const Motion *b) const
00097             {
00098                 return si_->distance(a->state, b->state);
00099             }
00100 
00101             base::StateSamplerPtr sampler_;
00102             DirectedControlSamplerPtr controlSampler_;
00103             boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
00104             bool regionalNN_;
00105 
00107             Motion *lastGoalMotion_;
00108         };
00109     }
00110 }
00111 #endif
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