ompl/geometric/planners/stride/STRIDE.h
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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: Bryant Gipson, Mark Moll */ 00036 00037 #ifndef OMPL_GEOMETRIC_PLANNERS_STRIDE_STRIDE_ 00038 #define OMPL_GEOMETRIC_PLANNERS_STRIDE_STRIDE_ 00039 00040 #include "ompl/datastructures/Grid.h" 00041 #include "ompl/geometric/planners/PlannerIncludes.h" 00042 #include "ompl/base/ProjectionEvaluator.h" 00043 #include "ompl/datastructures/PDF.h" 00044 #include <boost/unordered_map.hpp> 00045 #include <boost/scoped_ptr.hpp> 00046 #include <vector> 00047 00048 namespace ompl 00049 { 00050 00051 template<typename _T> 00052 class NearestNeighborsGNAT; 00053 00054 namespace geometric 00055 { 00056 00080 class STRIDE : public base::Planner 00081 { 00082 public: 00083 00085 STRIDE(const base::SpaceInformationPtr &si, bool useProjectedDistance = false, 00086 unsigned int degree = 16, unsigned int minDegree = 12, unsigned int maxDegree = 18, 00087 unsigned int maxNumPtsPerLeaf = 6, double estimatedDimension = 0.0); 00088 virtual ~STRIDE(); 00089 00090 virtual void setup(); 00091 00092 virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc); 00093 00094 virtual void clear(); 00095 00103 void setGoalBias(double goalBias) 00104 { 00105 goalBias_ = goalBias; 00106 } 00107 00109 double getGoalBias() const 00110 { 00111 return goalBias_; 00112 } 00113 00117 void setUseProjectedDistance(bool useProjectedDistance) 00118 { 00119 useProjectedDistance_ = useProjectedDistance; 00120 } 00124 bool getUseProjectedDistance() const 00125 { 00126 return useProjectedDistance_; 00127 } 00128 00130 void setDegree(unsigned int degree) 00131 { 00132 degree_ = degree; 00133 } 00135 unsigned int getDegree() const 00136 { 00137 return degree_; 00138 } 00140 void setMinDegree(unsigned int minDegree) 00141 { 00142 minDegree_ = minDegree; 00143 } 00145 unsigned int getMinDegree() const 00146 { 00147 return minDegree_; 00148 } 00150 void setMaxDegree(unsigned int maxDegree) 00151 { 00152 maxDegree_ = maxDegree; 00153 } 00155 unsigned int getMaxDegree() const 00156 { 00157 return maxDegree_; 00158 } 00161 void setMaxNumPtsPerLeaf(unsigned int maxNumPtsPerLeaf) 00162 { 00163 maxNumPtsPerLeaf_ = maxNumPtsPerLeaf; 00164 } 00167 unsigned int getMaxNumPtsPerLeaf() const 00168 { 00169 return maxNumPtsPerLeaf_; 00170 } 00174 void setEstimatedDimension(double estimatedDimension) 00175 { 00176 estimatedDimension_ = estimatedDimension; 00177 } 00181 double getEstimatedDimension() const 00182 { 00183 return estimatedDimension_; 00184 } 00185 00191 void setRange(double distance) 00192 { 00193 maxDistance_ = distance; 00194 } 00195 00197 double getRange() const 00198 { 00199 return maxDistance_; 00200 } 00207 void setMinValidPathFraction(double fraction) 00208 { 00209 minValidPathFraction_ = fraction; 00210 } 00211 00213 double getMinValidPathFraction() const 00214 { 00215 return minValidPathFraction_; 00216 } 00219 void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator) 00220 { 00221 projectionEvaluator_ = projectionEvaluator; 00222 } 00223 00226 void setProjectionEvaluator(const std::string &name) 00227 { 00228 projectionEvaluator_ = si_->getStateSpace()->getProjection(name); 00229 } 00230 00232 const base::ProjectionEvaluatorPtr& getProjectionEvaluator() const 00233 { 00234 return projectionEvaluator_; 00235 } 00236 00237 virtual void getPlannerData(base::PlannerData &data) const; 00238 00239 protected: 00240 00242 class Motion 00243 { 00244 public: 00245 Motion() : state(NULL), parent(NULL) 00246 { 00247 } 00248 00250 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL) 00251 { 00252 } 00253 00254 ~Motion() 00255 { 00256 } 00257 00259 base::State *state; 00260 00262 Motion *parent; 00263 }; 00264 00265 00267 void freeMemory(); 00268 00270 void setupTree(); 00271 00273 double distanceFunction(const Motion *a, const Motion *b) const 00274 { 00275 return si_->distance(a->state, b->state); 00276 } 00277 00279 double projectedDistanceFunction(const Motion *a, const Motion *b) const 00280 { 00281 unsigned int num_dims = projectionEvaluator_->getDimension(); 00282 ompl::base::EuclideanProjection aproj(num_dims), bproj(num_dims); 00283 projectionEvaluator_->project(a->state, aproj); 00284 projectionEvaluator_->project(b->state, bproj); 00285 return boost::numeric::ublas::norm_2(aproj - bproj); 00286 } 00287 00289 void addMotion(Motion *motion); 00290 00292 Motion* selectMotion(); 00293 00295 base::ValidStateSamplerPtr sampler_; 00296 00298 base::ProjectionEvaluatorPtr projectionEvaluator_; 00299 00301 boost::scoped_ptr<NearestNeighborsGNAT<Motion*> > 00302 tree_; 00303 00305 double goalBias_; 00306 00308 double maxDistance_; 00309 00311 bool useProjectedDistance_; 00313 unsigned int degree_; 00315 unsigned int minDegree_; 00317 unsigned int maxDegree_; 00319 unsigned int maxNumPtsPerLeaf_; 00321 double estimatedDimension_; 00327 double minValidPathFraction_; 00328 00330 RNG rng_; 00331 }; 00332 00333 } 00334 } 00335 00336 #endif