ompl/geometric/planners/kpiece/BKPIECE1.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_
00038 #define OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_
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 
00075         class BKPIECE1 : public base::Planner
00076         {
00077         public:
00078 
00080             BKPIECE1(const base::SpaceInformationPtr &si);
00081 
00082             virtual ~BKPIECE1();
00083 
00086             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00087             {
00088                 projectionEvaluator_ = projectionEvaluator;
00089             }
00090 
00093             void setProjectionEvaluator(const std::string &name)
00094             {
00095                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00096             }
00097 
00099             const base::ProjectionEvaluatorPtr& getProjectionEvaluator() const
00100             {
00101                 return projectionEvaluator_;
00102             }
00103 
00109             void setRange(double distance)
00110             {
00111                 maxDistance_ = distance;
00112             }
00113 
00115             double getRange() const
00116             {
00117                 return maxDistance_;
00118             }
00119 
00126             void setBorderFraction(double bp)
00127             {
00128                 dStart_.setBorderFraction(bp);
00129                 dGoal_.setBorderFraction(bp);
00130             }
00131 
00134             double getBorderFraction() const
00135             {
00136                 return dStart_.getBorderFraction();
00137             }
00138 
00143             void setFailedExpansionCellScoreFactor(double factor)
00144             {
00145                 failedExpansionScoreFactor_ = factor;
00146             }
00147 
00150             double getFailedExpansionCellScoreFactor() const
00151             {
00152                 return failedExpansionScoreFactor_;
00153             }
00154 
00161             void setMinValidPathFraction(double fraction)
00162             {
00163                 minValidPathFraction_ = fraction;
00164             }
00165 
00167             double getMinValidPathFraction() const
00168             {
00169                 return minValidPathFraction_;
00170             }
00171 
00172             virtual void setup();
00173 
00174             virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
00175             virtual void clear();
00176 
00177             virtual void getPlannerData(base::PlannerData &data) const;
00178 
00179         protected:
00180 
00182             class Motion
00183             {
00184             public:
00185 
00186                 Motion() : root(NULL), state(NULL), parent(NULL)
00187                 {
00188                 }
00189 
00191                 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL)
00192                 {
00193                 }
00194 
00195                 ~Motion()
00196                 {
00197                 }
00198 
00200                 const base::State   *root;
00201 
00203                 base::State         *state;
00204 
00206                 Motion              *parent;
00207             };
00208 
00210             void freeMotion(Motion *motion);
00211 
00213             base::ValidStateSamplerPtr                 sampler_;
00214 
00216             base::ProjectionEvaluatorPtr               projectionEvaluator_;
00217 
00219             Discretization<Motion>                     dStart_;
00220 
00222             Discretization<Motion>                     dGoal_;
00223 
00227             double                                     failedExpansionScoreFactor_;
00228 
00234             double                                     minValidPathFraction_;
00235 
00237             double                                     maxDistance_;
00238 
00240             RNG                                        rng_;
00241 
00243             std::pair<base::State*, base::State*>      connectionPoint_;
00244         };
00245 
00246     }
00247 }
00248 
00249 
00250 #endif
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