ompl/geometric/planners/rrt/RRT.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_
00038 #define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/datastructures/NearestNeighbors.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace geometric
00047     {
00048 
00065         class RRT : public base::Planner
00066         {
00067         public:
00068 
00070             RRT(const base::SpaceInformationPtr &si);
00071 
00072             virtual ~RRT();
00073 
00074             virtual void getPlannerData(base::PlannerData &data) const;
00075 
00076             virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
00077 
00078             virtual void clear();
00079 
00089             void setGoalBias(double goalBias)
00090             {
00091                 goalBias_ = goalBias;
00092             }
00093 
00095             double getGoalBias() const
00096             {
00097                 return goalBias_;
00098             }
00099 
00105             void setRange(double distance)
00106             {
00107                 maxDistance_ = distance;
00108             }
00109 
00111             double getRange() const
00112             {
00113                 return maxDistance_;
00114             }
00115 
00117             template<template<typename T> class NN>
00118             void setNearestNeighbors()
00119             {
00120                 nn_.reset(new NN<Motion*>());
00121             }
00122 
00123             virtual void setup();
00124 
00125         protected:
00126 
00127 
00132             class Motion
00133             {
00134             public:
00135 
00136                 Motion() : state(NULL), parent(NULL)
00137                 {
00138                 }
00139 
00141                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
00142                 {
00143                 }
00144 
00145                 ~Motion()
00146                 {
00147                 }
00148 
00150                 base::State       *state;
00151 
00153                 Motion            *parent;
00154 
00155             };
00156 
00158             void freeMemory();
00159 
00161             double distanceFunction(const Motion *a, const Motion *b) const
00162             {
00163                 return si_->distance(a->state, b->state);
00164             }
00165 
00167             base::StateSamplerPtr                          sampler_;
00168 
00170             boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
00171 
00173             double                                         goalBias_;
00174 
00176             double                                         maxDistance_;
00177 
00179             RNG                                            rng_;
00180 
00182             Motion                                         *lastGoalMotion_;
00183         };
00184 
00185     }
00186 }
00187 
00188 #endif
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