ompl/control/planners/syclop/src/SyclopEST.cpp
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00034 
00035 /* Author: Matt Maly */
00036 
00037 #include "ompl/control/planners/syclop/SyclopEST.h"
00038 #include "ompl/base/goals/GoalSampleableRegion.h"
00039 
00040 void ompl::control::SyclopEST::setup()
00041 {
00042     Syclop::setup();
00043     sampler_ = si_->allocStateSampler();
00044     controlSampler_ = siC_->allocControlSampler();
00045     lastGoalMotion_ = NULL;
00046 }
00047 
00048 void ompl::control::SyclopEST::clear()
00049 {
00050     Syclop::clear();
00051     freeMemory();
00052     motions_.clear();
00053     lastGoalMotion_ = NULL;
00054 }
00055 
00056 void ompl::control::SyclopEST::getPlannerData(base::PlannerData &data) const
00057 {
00058     Planner::getPlannerData(data);
00059 
00060     double delta = siC_->getPropagationStepSize();
00061 
00062     if (lastGoalMotion_)
00063         data.addGoalVertex(lastGoalMotion_->state);
00064 
00065     for (size_t i = 0; i < motions_.size(); ++i)
00066     {
00067         if (motions_[i]->parent)
00068         {
00069             if (data.hasControls())
00070                 data.addEdge (base::PlannerDataVertex(motions_[i]->parent->state),
00071                               base::PlannerDataVertex(motions_[i]->state),
00072                               control::PlannerDataEdgeControl (motions_[i]->control, motions_[i]->steps * delta));
00073             else
00074                 data.addEdge (base::PlannerDataVertex(motions_[i]->parent->state),
00075                               base::PlannerDataVertex(motions_[i]->state));
00076         }
00077         else
00078             data.addStartVertex (base::PlannerDataVertex(motions_[i]->state));
00079     }
00080 }
00081 
00082 ompl::control::Syclop::Motion* ompl::control::SyclopEST::addRoot(const base::State *s)
00083 {
00084     Motion *motion = new Motion(siC_);
00085     si_->copyState(motion->state, s);
00086     siC_->nullControl(motion->control);
00087     motions_.push_back(motion);
00088     return motion;
00089 }
00090 
00091 void ompl::control::SyclopEST::selectAndExtend(Region &region, std::vector<Motion*>& newMotions)
00092 {
00093     Motion *treeMotion = region.motions[rng_.uniformInt(0, region.motions.size()-1)];
00094     Control *rctrl = siC_->allocControl();
00095     base::State *newState = si_->allocState();
00096 
00097     controlSampler_->sample(rctrl, treeMotion->state);
00098     unsigned int duration = controlSampler_->sampleStepCount(siC_->getMinControlDuration(), siC_->getMaxControlDuration());
00099     duration = siC_->propagateWhileValid(treeMotion->state, rctrl, duration, newState);
00100 
00101     if (duration >= siC_->getMinControlDuration())
00102     {
00103         Motion *motion = new Motion(siC_);
00104         si_->copyState(motion->state, newState);
00105         siC_->copyControl(motion->control, rctrl);
00106         motion->steps = duration;
00107         motion->parent = treeMotion;
00108         motions_.push_back(motion);
00109         newMotions.push_back(motion);
00110 
00111         lastGoalMotion_ = motion;
00112     }
00113 
00114     siC_->freeControl(rctrl);
00115     si_->freeState(newState);
00116 }
00117 
00118 void ompl::control::SyclopEST::freeMemory()
00119 {
00120     for (std::vector<Motion*>::iterator i = motions_.begin(); i != motions_.end(); ++i)
00121     {
00122         Motion *m = *i;
00123         if (m->state)
00124             si_->freeState(m->state);
00125         if (m->control)
00126             siC_->freeControl(m->control);
00127         delete m;
00128     }
00129 }
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