ompl/geometric/GeneticSearch.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_GENETIC_SEARCH_
00038 #define OMPL_GEOMETRIC_GENETIC_SEARCH_
00039 
00040 #include "ompl/base/SpaceInformation.h"
00041 #include "ompl/base/goals/GoalRegion.h"
00042 #include "ompl/geometric/HillClimbing.h"
00043 #include "ompl/util/Console.h"
00044 
00045 namespace ompl
00046 {
00047 
00048     namespace geometric
00049     {
00050 
00062         class GeneticSearch
00063         {
00064         public:
00065 
00067             GeneticSearch(const base::SpaceInformationPtr &si);
00068             ~GeneticSearch();
00069 
00071             bool solve(double solveTime, const base::GoalRegion &goal, base::State *result,
00072                        const std::vector<base::State*> &hint = std::vector<base::State*>());
00073 
00075             void setMaxImproveSteps(unsigned int maxSteps)
00076             {
00077                 hc_.setMaxImproveSteps(maxSteps);
00078             }
00079 
00081             unsigned int getMaxImproveSteps() const
00082             {
00083                 return hc_.getMaxImproveSteps();
00084             }
00085 
00087             void setValidityCheck(bool valid)
00088             {
00089                 checkValidity_ = valid;
00090                 hc_.setValidityCheck(valid);
00091             }
00092 
00094             bool getValidityCheck() const
00095             {
00096                 return checkValidity_;
00097             }
00098 
00100             void setTryImprove(bool flag)
00101             {
00102                 tryImprove_ = flag;
00103             }
00104 
00106             bool getTryImprove() const
00107             {
00108                 return tryImprove_;
00109             }
00110 
00112             void setPoolSize(unsigned int size)
00113             {
00114                 poolSize_ = size;
00115             }
00116 
00118             unsigned int getPoolSize() const
00119             {
00120                 return poolSize_;
00121             }
00122 
00124             void setPoolMutationSize(unsigned int size)
00125             {
00126                 poolMutation_ = size;
00127             }
00128 
00130             unsigned int getPoolMutationSize() const
00131             {
00132                 return poolMutation_;
00133             }
00134 
00136             void setPoolRandomSize(unsigned int size)
00137             {
00138                 poolRandom_ = size;
00139             }
00140 
00142             unsigned int getPoolRandomSize() const
00143             {
00144                 return poolRandom_;
00145             }
00146 
00148             void setRange(double distance)
00149             {
00150                 maxDistance_ = distance;
00151             }
00152 
00154             double getRange() const
00155             {
00156                 return maxDistance_;
00157             }
00158 
00160             void clear();
00161 
00162         private:
00163 
00165             void tryToImprove(const base::GoalRegion &goal, base::State *state, double distance);
00166 
00168             bool valid(const base::State *state) const
00169             {
00170                 return checkValidity_ ? si_->isValid(state) : true;
00171             }
00172 
00173             struct Individual
00174             {
00175                 base::State *state;
00176                 double       distance;
00177                 bool         valid;
00178             };
00179 
00180             struct IndividualSort
00181             {
00182                 bool operator()(const Individual& a, const Individual& b)
00183                 {
00184                     if (a.valid == b.valid)
00185                         return a.distance < b.distance;
00186                     return a.valid;
00187                 }
00188             };
00189 
00190             HillClimbing                                 hc_;
00191             base::SpaceInformationPtr                    si_;
00192             base::StateSamplerPtr                        sampler_;
00193             std::vector<Individual>                      pool_;
00194             unsigned int                                 poolSize_;
00195             unsigned int                                 poolMutation_;
00196             unsigned int                                 poolRandom_;
00197             unsigned int                                 generations_;
00198             bool                                         checkValidity_;
00199             bool                                         tryImprove_;
00200 
00201             double                                       maxDistance_;
00202         };
00203 
00204     }
00205 }
00206 
00207 #endif
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines