ompl/geometric/planners/rrt/LBTRRT.h
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00034 
00035 /* Author: Oren Salzman, Sertac Karaman, Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_LBT_RRT_
00038 #define OMPL_GEOMETRIC_PLANNERS_RRT_LBT_RRT_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/base/OptimizationObjective.h"
00042 #include "ompl/datastructures/NearestNeighbors.h"
00043 
00044 #include <fstream>
00045 
00046 namespace ompl
00047 {
00048 
00049     namespace geometric
00050     {
00051 
00068         class LBTRRT : public base::Planner
00069         {
00070         public:
00071 
00073             LBTRRT (const base::SpaceInformationPtr &si);
00074 
00075             virtual ~LBTRRT ();
00076 
00077             virtual void getPlannerData(base::PlannerData &data) const;
00078 
00079             virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
00080 
00081             virtual void clear();
00082 
00092             void setGoalBias(double goalBias)
00093             {
00094                 goalBias_ = goalBias;
00095             }
00096 
00098             double getGoalBias() const
00099             {
00100                 return goalBias_;
00101             }
00102 
00108             void setRange(double distance)
00109             {
00110                 maxDistance_ = distance;
00111             }
00112 
00114             double getRange() const
00115             {
00116                 return maxDistance_;
00117             }
00118 
00120             template<template<typename T> class NN>
00121             void setNearestNeighbors()
00122             {
00123                 nn_.reset(new NN<Motion*>());
00124             }
00125 
00126             virtual void setup();
00127 
00129             void setApproximationFactor (double epsilon)
00130             {
00131                 epsilon_ = epsilon;
00132             }
00133 
00135             double getApproximationFactor () const
00136             {
00137                 return epsilon_;
00138             }
00139 
00141             // Planner progress property functions
00142             std::string getIterationCount() const
00143             {
00144               return boost::lexical_cast<std::string>(iterations_);
00145             }
00146             std::string getBestCost() const
00147             {
00148               return boost::lexical_cast<std::string>(bestCost_);
00149             }
00150 
00151         protected:
00152 
00154             static const double kRRG; // = 5.5
00155 
00160             class Motion
00161             {
00162             public:
00163 
00164                 Motion() : state(NULL), parentLb_(NULL), parentApx_(NULL), costLb_(0.0), costApx_(0.0)
00165                 {
00166                 }
00167 
00169                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parentLb_(NULL), parentApx_(NULL), costLb_(0.0), costApx_(0.0)
00170                 {
00171                 }
00172 
00173                 ~Motion()
00174                 {
00175                 }
00176 
00178                 base::State       *state;
00179 
00181                 Motion            *parentLb_;
00182 
00184                 Motion            *parentApx_;
00185 
00187                 base::Cost         costLb_;
00189                 base::Cost         costApx_;
00191                 base::Cost        incCost_;
00192 
00193                 std::vector<Motion*> childrenLb_;
00194                 std::vector<Motion*> childrenApx_;
00195             };
00196 
00197             struct CostCompare
00198             {
00199                 CostCompare(const base::OptimizationObjective &opt, Motion *motion_): opt_(opt), motion(motion_)
00200                 {
00201                 }
00202 
00203                 bool operator() (const Motion *motionA, const Motion *motionB)
00204                 {
00205                     base::Cost costA = opt_.combineCosts(motionA->costLb_, opt_.motionCost(motionA->state, motion->state));
00206                     base::Cost costB = opt_.combineCosts(motionB->costLb_, opt_.motionCost(motionB->state, motion->state));
00207                     return opt_.isCostBetterThan(costA, costB);
00208                 }
00209                 const base::OptimizationObjective &opt_;
00210                 Motion *motion;
00211             }; //IsLessThan
00212 
00214             bool attemptNodeUpdate(Motion *potentialParent, Motion *child);
00215 
00217             void updateChildCostsLb(Motion *m);
00218 
00220             void updateChildCostsApx(Motion *m);
00221 
00223             void removeFromParentLb(Motion *m);
00224 
00226             void removeFromParentApx(Motion *m);
00227 
00229             void removeFromParent(const Motion *m, std::vector<Motion*>& vec);
00230 
00232             void freeMemory();
00233 
00235             double distanceFunction(const Motion *a, const Motion *b) const
00236             {
00237                 return si_->distance(a->state, b->state);
00238             }
00239             /* \brief Compute cost to move from state in motion a to state in motion b */
00240             base::Cost costFunction(const Motion *a, const Motion *b) const
00241             {
00242                 return opt_->motionCost(a->state, b->state);
00243             }
00245             base::StateSamplerPtr                          sampler_;
00246 
00248             boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
00249 
00251             double                                         goalBias_;
00252 
00254             double                                         maxDistance_;
00255 
00257             double                                         epsilon_;
00258 
00260             RNG                                            rng_;
00261 
00263             base::OptimizationObjectivePtr                 opt_;
00264 
00266             Motion                                         *lastGoalMotion_;
00267 
00269             std::vector<Motion*>                           goalMotions_;
00270 
00272             // Planner progress properties
00274             unsigned int                                   iterations_;
00276             base::Cost                                     bestCost_;
00277 
00278         };
00279 
00280     }
00281 }
00282 
00283 #endif //OMPL_GEOMETRIC_PLANNERS_RRT_LBT_RRT_
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