ompl/geometric/planners/sbl/SBL.h
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef OMPL_GEOMETRIC_PLANNERS_SBL_SBL_ 00038 #define OMPL_GEOMETRIC_PLANNERS_SBL_SBL_ 00039 00040 #include "ompl/geometric/planners/PlannerIncludes.h" 00041 #include "ompl/base/ProjectionEvaluator.h" 00042 #include "ompl/datastructures/Grid.h" 00043 #include "ompl/datastructures/PDF.h" 00044 #include <vector> 00045 00046 namespace ompl 00047 { 00048 00049 namespace geometric 00050 { 00051 00085 class SBL : public base::Planner 00086 { 00087 public: 00088 00090 SBL(const base::SpaceInformationPtr &si); 00091 00092 virtual ~SBL(); 00093 00096 void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator) 00097 { 00098 projectionEvaluator_ = projectionEvaluator; 00099 } 00100 00103 void setProjectionEvaluator(const std::string &name) 00104 { 00105 projectionEvaluator_ = si_->getStateSpace()->getProjection(name); 00106 } 00107 00109 const base::ProjectionEvaluatorPtr& getProjectionEvaluator() const 00110 { 00111 return projectionEvaluator_; 00112 } 00113 00119 void setRange(double distance) 00120 { 00121 maxDistance_ = distance; 00122 } 00123 00125 double getRange() const 00126 { 00127 return maxDistance_; 00128 } 00129 00130 virtual void setup(); 00131 00132 virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc); 00133 00134 virtual void clear(); 00135 00136 virtual void getPlannerData(base::PlannerData &data) const; 00137 00138 protected: 00139 00140 struct MotionInfo; 00141 00143 typedef Grid<MotionInfo>::Cell GridCell; 00144 00146 typedef PDF<GridCell*> CellPDF; 00147 00149 class Motion 00150 { 00151 public: 00152 00154 Motion() : root(NULL), state(NULL), parent(NULL), valid(false) 00155 { 00156 } 00157 00159 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL), valid(false) 00160 { 00161 } 00162 00164 const base::State *root; 00165 00167 base::State *state; 00168 00170 Motion *parent; 00171 00173 bool valid; 00174 00176 std::vector<Motion*> children; 00177 }; 00178 00180 struct MotionInfo 00181 { 00182 Motion* operator[](unsigned int i) 00183 { 00184 return motions_[i]; 00185 } 00186 std::vector<Motion*>::iterator begin() 00187 { 00188 return motions_.begin(); 00189 } 00190 void erase(std::vector<Motion*>::iterator iter) 00191 { 00192 motions_.erase(iter); 00193 } 00194 void push_back(Motion *m) 00195 { 00196 motions_.push_back(m); 00197 } 00198 unsigned int size() const 00199 { 00200 return motions_.size(); 00201 } 00202 bool empty() const 00203 { 00204 return motions_.empty(); 00205 } 00206 00207 std::vector<Motion*> motions_; 00208 CellPDF::Element *elem_; 00209 }; 00210 00212 struct TreeData 00213 { 00214 TreeData() : grid(0), size(0) 00215 { 00216 } 00217 00219 Grid<MotionInfo> grid; 00220 00222 unsigned int size; 00223 00225 CellPDF pdf; 00226 }; 00227 00229 void freeMemory() 00230 { 00231 freeGridMotions(tStart_.grid); 00232 freeGridMotions(tGoal_.grid); 00233 } 00234 00236 void freeGridMotions(Grid<MotionInfo> &grid); 00237 00239 void addMotion(TreeData &tree, Motion *motion); 00240 00242 Motion* selectMotion(TreeData &tree); 00243 00245 void removeMotion(TreeData &tree, Motion *motion); 00246 00252 bool isPathValid(TreeData &tree, Motion *motion); 00253 00255 bool checkSolution(bool start, TreeData &tree, TreeData &otherTree, Motion *motion, std::vector<Motion*> &solution); 00256 00258 base::ValidStateSamplerPtr sampler_; 00259 00261 base::ProjectionEvaluatorPtr projectionEvaluator_; 00262 00264 TreeData tStart_; 00265 00267 TreeData tGoal_; 00268 00270 double maxDistance_; 00271 00273 RNG rng_; 00274 00276 std::pair<base::State*, base::State*> connectionPoint_; 00277 }; 00278 00279 } 00280 } 00281 00282 #endif