ompl/geometric/planners/rrt/RRTstar.h
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00034 
00035 /* Authors: Alejandro Perez, Sertac Karaman, Ryan Luna, Luis G. Torres, Ioan Sucan, Javier V Gomez */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRTSTAR_
00038 #define OMPL_GEOMETRIC_PLANNERS_RRT_RRTSTAR_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/base/OptimizationObjective.h"
00042 #include "ompl/datastructures/NearestNeighbors.h"
00043 
00044 #include <limits>
00045 #include <vector>
00046 #include <utility>
00047 
00048 
00049 namespace ompl
00050 {
00051 
00052     namespace geometric
00053     {
00054 
00076         class RRTstar : public base::Planner
00077         {
00078         public:
00079 
00080             RRTstar(const base::SpaceInformationPtr &si);
00081 
00082             virtual ~RRTstar();
00083 
00084             virtual void getPlannerData(base::PlannerData &data) const;
00085 
00086             virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
00087 
00088             virtual void clear();
00089 
00099             void setGoalBias(double goalBias)
00100             {
00101                 goalBias_ = goalBias;
00102             }
00103 
00105             double getGoalBias() const
00106             {
00107                 return goalBias_;
00108             }
00109 
00115             void setRange(double distance)
00116             {
00117                 maxDistance_ = distance;
00118             }
00119 
00121             double getRange() const
00122             {
00123                 return maxDistance_;
00124             }
00125 
00127             template<template<typename T> class NN>
00128             void setNearestNeighbors()
00129             {
00130                 nn_.reset(new NN<Motion*>());
00131             }
00132 
00140             void setDelayCC(bool delayCC)
00141             {
00142                 delayCC_ = delayCC;
00143             }
00144 
00146             bool getDelayCC() const
00147             {
00148                 return delayCC_;
00149             }
00150 
00152             void setPrune(const bool prune)
00153             {
00154                 prune_ = prune;
00155             }
00156 
00158             bool getPrune() const
00159             {
00160                 return prune_;
00161             }
00162 
00165             void setPruneStatesImprovementThreshold(const double pp)
00166             {
00167                 pruneStatesThreshold_ = pp;
00168             }
00169 
00171             double getPruneStatesImprovementThreshold () const
00172             {
00173                 return pruneStatesThreshold_;
00174             }
00175 
00176             virtual void setup();
00177 
00179             // Planner progress property functions
00180             std::string getIterationCount() const
00181             {
00182                 return boost::lexical_cast<std::string>(iterations_);
00183             }
00184             std::string getBestCost() const
00185             {
00186                 return boost::lexical_cast<std::string>(bestCost_);
00187             }
00188 
00189         protected:
00190 
00192             class Motion
00193             {
00194             public:
00196                 Motion(const base::SpaceInformationPtr &si) :
00197                     state(si->allocState()),
00198                     parent(NULL)
00199                 {
00200                 }
00201 
00202                 ~Motion()
00203                 {
00204                 }
00205 
00207                 base::State       *state;
00208 
00210                 Motion            *parent;
00211 
00213                 base::Cost        cost;
00214 
00216                 base::Cost        incCost;
00217 
00219                 std::vector<Motion*> children;
00220             };
00221 
00223             void freeMemory();
00224 
00225             // For sorting a list of costs and getting only their sorted indices
00226             struct CostIndexCompare
00227             {
00228                 CostIndexCompare(const std::vector<base::Cost>& costs,
00229                                  const base::OptimizationObjective &opt) :
00230                     costs_(costs), opt_(opt)
00231                 {}
00232                 bool operator()(unsigned i, unsigned j)
00233                 {
00234                     return opt_.isCostBetterThan(costs_[i],costs_[j]);
00235                 }
00236                 const std::vector<base::Cost>& costs_;
00237                 const base::OptimizationObjective &opt_;
00238             };
00239 
00241             double distanceFunction(const Motion *a, const Motion *b) const
00242             {
00243                 return si_->distance(a->state, b->state);
00244             }
00245 
00247             void removeFromParent(Motion *m); 
00248 
00250             void updateChildCosts(Motion *m);
00251 
00254             int pruneTree(const base::Cost pruneTreeCost);
00255 
00257             void deleteBranch(Motion *motion);
00258 
00262             base::Cost costToGo(const Motion *motion, const bool shortest = true) const;
00263 
00265             base::StateSamplerPtr                          sampler_;
00266 
00268             boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
00269 
00271             double                                         goalBias_;
00272 
00274             double                                         maxDistance_;
00275 
00277             RNG                                            rng_;
00278 
00280             bool                                           delayCC_;
00281 
00283             base::OptimizationObjectivePtr                 opt_;
00284 
00286             Motion                                         *lastGoalMotion_;
00287 
00289             std::vector<Motion*>                           goalMotions_;
00290 
00292             bool                                           prune_;
00293 
00295             double                                         pruneStatesThreshold_;
00296 
00297             struct PruneScratchSpace { std::vector<Motion*> newTree, toBePruned, candidates; } pruneScratchSpace_;
00298 
00300             Motion *                                       startMotion_;
00301 
00303             // Planner progress properties
00305             unsigned int                                   iterations_;
00307             base::Cost                                     bestCost_;
00308         };
00309     }
00310 }
00311 
00312 #endif
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