ompl/geometric/planners/est/EST.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_EST_EST_
00038 #define OMPL_GEOMETRIC_PLANNERS_EST_EST_
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 <vector>
00045 
00046 namespace ompl
00047 {
00048 
00049     namespace geometric
00050     {
00051 
00073         class EST : public base::Planner
00074         {
00075         public:
00076 
00078             EST(const base::SpaceInformationPtr &si);
00079 
00080             virtual ~EST();
00081 
00082             virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
00083 
00084             virtual void clear();
00085 
00093             void setGoalBias(double goalBias)
00094             {
00095                 goalBias_ = goalBias;
00096             }
00097 
00099             double getGoalBias() const
00100             {
00101                 return goalBias_;
00102             }
00103 
00109             void setRange(double distance)
00110             {
00111                 maxDistance_ = distance;
00112             }
00113 
00115             double getRange() const
00116             {
00117                 return maxDistance_;
00118             }
00119 
00122             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00123             {
00124                 projectionEvaluator_ = projectionEvaluator;
00125             }
00126 
00129             void setProjectionEvaluator(const std::string &name)
00130             {
00131                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00132             }
00133 
00135             const base::ProjectionEvaluatorPtr& getProjectionEvaluator() const
00136             {
00137                 return projectionEvaluator_;
00138             }
00139 
00140             virtual void setup();
00141 
00142             virtual void getPlannerData(base::PlannerData &data) const;
00143 
00144         protected:
00145 
00147             class Motion
00148             {
00149             public:
00150 
00151                 Motion() : state(NULL), parent(NULL)
00152                 {
00153                 }
00154 
00156                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
00157                 {
00158                 }
00159 
00160                 ~Motion()
00161                 {
00162                 }
00163 
00165                 base::State       *state;
00166 
00168                 Motion            *parent;
00169             };
00170 
00171             struct MotionInfo;
00172 
00174             typedef Grid<MotionInfo>::Cell GridCell;
00175 
00177             typedef PDF<GridCell*>        CellPDF;
00178 
00180             struct MotionInfo
00181             {
00182                 Motion* operator[](unsigned int i)
00183                 {
00184                     return motions_[i];
00185                 }
00186                 const Motion* operator[](unsigned int i) const
00187                 {
00188                     return motions_[i];
00189                 }
00190                 void push_back(Motion *m)
00191                 {
00192                     motions_.push_back(m);
00193                 }
00194                 unsigned int size() const
00195                 {
00196                     return motions_.size();
00197                 }
00198                 bool empty() const
00199                 {
00200                     return motions_.empty();
00201                 }
00202                 std::vector<Motion*> motions_;
00203                 CellPDF::Element    *elem_;
00204             };
00205 
00206 
00208             struct TreeData
00209             {
00210                 TreeData() : grid(0), size(0)
00211                 {
00212                 }
00213 
00215                 Grid<MotionInfo> grid;
00216 
00218                 unsigned int    size;
00219             };
00220 
00222             void freeMemory();
00223 
00225             void addMotion(Motion *motion);
00226 
00228             Motion* selectMotion();
00229 
00231             base::ValidStateSamplerPtr   sampler_;
00232 
00234             TreeData                     tree_;
00235 
00237             base::ProjectionEvaluatorPtr projectionEvaluator_;
00238 
00240             double                       goalBias_;
00241 
00243             double                       maxDistance_;
00244 
00246             RNG                          rng_;
00247 
00249             CellPDF                      pdf_;
00250 
00252             Motion                       *lastGoalMotion_;
00253         };
00254 
00255     }
00256 }
00257 
00258 #endif
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