ompl/geometric/planners/kpiece/LBKPIECE1.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_LBKPIECE1_
00038 #define OMPL_GEOMETRIC_PLANNERS_KPIECE_LBKPIECE1_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/geometric/planners/kpiece/Discretization.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace geometric
00047     {
00048 
00078         class LBKPIECE1 : public base::Planner
00079         {
00080         public:
00081 
00083             LBKPIECE1(const base::SpaceInformationPtr &si);
00084 
00085             virtual ~LBKPIECE1();
00086 
00089             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00090             {
00091                 projectionEvaluator_ = projectionEvaluator;
00092             }
00093 
00096             void setProjectionEvaluator(const std::string &name)
00097             {
00098                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00099             }
00100 
00102             const base::ProjectionEvaluatorPtr& getProjectionEvaluator() const
00103             {
00104                 return projectionEvaluator_;
00105             }
00106 
00112             void setRange(double distance)
00113             {
00114                 maxDistance_ = distance;
00115             }
00116 
00118             double getRange() const
00119             {
00120                 return maxDistance_;
00121             }
00128             void setBorderFraction(double bp)
00129             {
00130                 dStart_.setBorderFraction(bp);
00131                 dGoal_.setBorderFraction(bp);
00132             }
00133 
00136             double getBorderFraction() const
00137             {
00138                 return dStart_.getBorderFraction();
00139             }
00140 
00147             void setMinValidPathFraction(double fraction)
00148             {
00149                 minValidPathFraction_ = fraction;
00150             }
00151 
00153             double getMinValidPathFraction() const
00154             {
00155                 return minValidPathFraction_;
00156             }
00157 
00158             virtual void setup();
00159 
00160             virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
00161             virtual void clear();
00162 
00163             virtual void getPlannerData(base::PlannerData &data) const;
00164 
00165         protected:
00166 
00168             class Motion
00169             {
00170             public:
00171 
00172                 Motion() : root(NULL), state(NULL), parent(NULL), valid(false)
00173                 {
00174                 }
00175 
00177                 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL), valid(false)
00178                 {
00179                 }
00180 
00181                 ~Motion()
00182                 {
00183                 }
00184 
00186                 const base::State   *root;
00187 
00189                 base::State         *state;
00190 
00192                 Motion              *parent;
00193 
00195                 bool                 valid;
00196 
00198                 std::vector<Motion*> children;
00199             };
00200 
00202             void freeMotion(Motion *motion);
00203 
00205             void removeMotion(Discretization<Motion> &disc, Motion *motion);
00206 
00212             bool isPathValid(Discretization<Motion> &disc, Motion *motion, base::State *temp);
00213 
00215             base::StateSamplerPtr              sampler_;
00216 
00218             base::ProjectionEvaluatorPtr               projectionEvaluator_;
00219 
00221             Discretization<Motion>                     dStart_;
00222 
00224             Discretization<Motion>                     dGoal_;
00225 
00231             double                                     minValidPathFraction_;
00232 
00234             double                                     maxDistance_;
00235 
00237             RNG                                        rng_;
00238 
00240             std::pair<base::State*, base::State*>      connectionPoint_;
00241         };
00242 
00243     }
00244 }
00245 
00246 
00247 #endif
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