ompl/geometric/planners/rrt/RRTConnect.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
00038 #define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
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 
00061         class RRTConnect : public base::Planner
00062         {
00063         public:
00064 
00066             RRTConnect(const base::SpaceInformationPtr &si);
00067 
00068             virtual ~RRTConnect();
00069 
00070             virtual void getPlannerData(base::PlannerData &data) const;
00071 
00072             virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
00073 
00074             virtual void clear();
00075 
00081             void setRange(double distance)
00082             {
00083                 maxDistance_ = distance;
00084             }
00085 
00087             double getRange() const
00088             {
00089                 return maxDistance_;
00090             }
00091 
00093             template<template<typename T> class NN>
00094             void setNearestNeighbors()
00095             {
00096                 tStart_.reset(new NN<Motion*>());
00097                 tGoal_.reset(new NN<Motion*>());
00098             }
00099 
00100             virtual void setup();
00101 
00102         protected:
00103 
00105             class Motion
00106             {
00107             public:
00108 
00109                 Motion() : root(NULL), state(NULL), parent(NULL)
00110                 {
00111                     parent = NULL;
00112                     state  = NULL;
00113                 }
00114 
00115                 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL)
00116                 {
00117                 }
00118 
00119                 ~Motion()
00120                 {
00121                 }
00122 
00123                 const base::State *root;
00124                 base::State       *state;
00125                 Motion            *parent;
00126 
00127             };
00128 
00130             typedef boost::shared_ptr< NearestNeighbors<Motion*> > TreeData;
00131 
00133             struct TreeGrowingInfo
00134             {
00135                 base::State         *xstate;
00136                 Motion              *xmotion;
00137                 bool                 start;
00138             };
00139 
00141             enum GrowState
00142                 {
00144                     TRAPPED,
00146                     ADVANCED,
00148                     REACHED
00149                 };
00150 
00152             void freeMemory();
00153 
00155             double distanceFunction(const Motion *a, const Motion *b) const
00156             {
00157                 return si_->distance(a->state, b->state);
00158             }
00159 
00161             GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion);
00162 
00164             base::StateSamplerPtr         sampler_;
00165 
00167             TreeData                      tStart_;
00168 
00170             TreeData                      tGoal_;
00171 
00173             double                        maxDistance_;
00174 
00176             RNG                           rng_;
00177 
00179             std::pair<base::State*, base::State*>      connectionPoint_;
00180         };
00181 
00182     }
00183 }
00184 
00185 #endif
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