ompl/control/planners/est/EST.h
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00034 
00035 /* Author: Ryan Luna */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_EST_EST_
00038 #define OMPL_CONTROL_PLANNERS_EST_EST_
00039 
00040 #include "ompl/datastructures/Grid.h"
00041 #include "ompl/control/planners/PlannerIncludes.h"
00042 #include "ompl/base/ProjectionEvaluator.h"
00043 #include "ompl/datastructures/PDF.h"
00044 #include <boost/unordered_map.hpp>
00045 #include <vector>
00046 
00047 namespace ompl
00048 {
00049 
00050     namespace control
00051     {
00052 
00074         class EST : public base::Planner
00075         {
00076         public:
00077 
00079             EST(const SpaceInformationPtr &si);
00080 
00081             virtual ~EST();
00082 
00083             virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
00084 
00085             virtual void clear();
00086 
00094             void setGoalBias(double goalBias)
00095             {
00096                 goalBias_ = goalBias;
00097             }
00098 
00100             double getGoalBias() const
00101             {
00102                 return goalBias_;
00103             }
00104 
00110             void setRange(double distance)
00111             {
00112                 maxDistance_ = distance;
00113             }
00114 
00116             double getRange() const
00117             {
00118                 return maxDistance_;
00119             }
00120 
00123             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00124             {
00125                 projectionEvaluator_ = projectionEvaluator;
00126             }
00127 
00130             void setProjectionEvaluator(const std::string &name)
00131             {
00132                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00133             }
00134 
00136             const base::ProjectionEvaluatorPtr& getProjectionEvaluator() const
00137             {
00138                 return projectionEvaluator_;
00139             }
00140 
00141             virtual void setup();
00142 
00143             virtual void getPlannerData(base::PlannerData &data) const;
00144 
00145         protected:
00146 
00151             class Motion
00152             {
00153             public:
00154 
00155                 Motion() : state(NULL), control(NULL), steps(0), parent(NULL)
00156                 {
00157                 }
00158 
00160                 Motion(const SpaceInformation *si) : state(si->allocState()), control(si->allocControl()), steps(0), parent(NULL)
00161                 {
00162                 }
00163 
00164                 ~Motion()
00165                 {
00166                 }
00167 
00169                 base::State       *state;
00170 
00172                 Control           *control;
00173 
00175                 unsigned int       steps;
00176 
00178                 Motion            *parent;
00179             };
00180 
00181             struct MotionInfo;
00182 
00184             typedef Grid<MotionInfo>::Cell GridCell;
00185 
00187             typedef PDF<GridCell*>        CellPDF;
00188 
00190             struct MotionInfo
00191             {
00192                 Motion* operator[](unsigned int i)
00193                 {
00194                     return motions_[i];
00195                 }
00196                 const Motion* operator[](unsigned int i) const
00197                 {
00198                     return motions_[i];
00199                 }
00200                 void push_back(Motion *m)
00201                 {
00202                     motions_.push_back(m);
00203                 }
00204                 unsigned int size() const
00205                 {
00206                     return motions_.size();
00207                 }
00208                 bool empty() const
00209                 {
00210                     return motions_.empty();
00211                 }
00212                 std::vector<Motion*> motions_;
00213                 CellPDF::Element    *elem_;
00214             };
00215 
00217             struct TreeData
00218             {
00219                 TreeData() : grid(0), size(0)
00220                 {
00221                 }
00222 
00224                 Grid<MotionInfo> grid;
00225 
00227                 unsigned int    size;
00228             };
00229 
00231             void freeMemory();
00232 
00234             void addMotion(Motion *motion);
00235 
00237             Motion* selectMotion();
00238 
00240             base::ValidStateSamplerPtr   sampler_;
00241 
00243             DirectedControlSamplerPtr    controlSampler_;
00244 
00246             const SpaceInformation       *siC_;
00247 
00249             TreeData                     tree_;
00250 
00252             base::ProjectionEvaluatorPtr projectionEvaluator_;
00253 
00255             double                       goalBias_;
00256 
00258             double                       maxDistance_;
00259 
00261             RNG                          rng_;
00262 
00264             CellPDF                      pdf_;
00265 
00267             Motion                       *lastGoalMotion_;
00268         };
00269 
00270     }
00271 }
00272 
00273 #endif
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