ompl/geometric/planners/est/EST.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_EST_EST_ 00038 #define OMPL_GEOMETRIC_PLANNERS_EST_EST_ 00039 00040 #include "ompl/datastructures/Grid.h" 00041 #include "ompl/geometric/planners/PlannerIncludes.h" 00042 #include "ompl/base/ProjectionEvaluator.h" 00043 #include "ompl/datastructures/PDF.h" 00044 #include <vector> 00045 00046 namespace ompl 00047 { 00048 00049 namespace geometric 00050 { 00051 00073 class EST : public base::Planner 00074 { 00075 public: 00076 00078 EST(const base::SpaceInformationPtr &si); 00079 00080 virtual ~EST(); 00081 00082 virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc); 00083 00084 virtual void clear(); 00085 00093 void setGoalBias(double goalBias) 00094 { 00095 goalBias_ = goalBias; 00096 } 00097 00099 double getGoalBias() const 00100 { 00101 return goalBias_; 00102 } 00103 00109 void setRange(double distance) 00110 { 00111 maxDistance_ = distance; 00112 } 00113 00115 double getRange() const 00116 { 00117 return maxDistance_; 00118 } 00119 00122 void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator) 00123 { 00124 projectionEvaluator_ = projectionEvaluator; 00125 } 00126 00129 void setProjectionEvaluator(const std::string &name) 00130 { 00131 projectionEvaluator_ = si_->getStateSpace()->getProjection(name); 00132 } 00133 00135 const base::ProjectionEvaluatorPtr& getProjectionEvaluator() const 00136 { 00137 return projectionEvaluator_; 00138 } 00139 00140 virtual void setup(); 00141 00142 virtual void getPlannerData(base::PlannerData &data) const; 00143 00144 protected: 00145 00147 class Motion 00148 { 00149 public: 00150 00151 Motion() : state(NULL), parent(NULL) 00152 { 00153 } 00154 00156 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL) 00157 { 00158 } 00159 00160 ~Motion() 00161 { 00162 } 00163 00165 base::State *state; 00166 00168 Motion *parent; 00169 }; 00170 00171 struct MotionInfo; 00172 00174 typedef Grid<MotionInfo>::Cell GridCell; 00175 00177 typedef PDF<GridCell*> CellPDF; 00178 00180 struct MotionInfo 00181 { 00182 Motion* operator[](unsigned int i) 00183 { 00184 return motions_[i]; 00185 } 00186 const Motion* operator[](unsigned int i) const 00187 { 00188 return motions_[i]; 00189 } 00190 void push_back(Motion *m) 00191 { 00192 motions_.push_back(m); 00193 } 00194 unsigned int size() const 00195 { 00196 return motions_.size(); 00197 } 00198 bool empty() const 00199 { 00200 return motions_.empty(); 00201 } 00202 std::vector<Motion*> motions_; 00203 CellPDF::Element *elem_; 00204 }; 00205 00206 00208 struct TreeData 00209 { 00210 TreeData() : grid(0), size(0) 00211 { 00212 } 00213 00215 Grid<MotionInfo> grid; 00216 00218 unsigned int size; 00219 }; 00220 00222 void freeMemory(); 00223 00225 void addMotion(Motion *motion); 00226 00228 Motion* selectMotion(); 00229 00231 base::ValidStateSamplerPtr sampler_; 00232 00234 TreeData tree_; 00235 00237 base::ProjectionEvaluatorPtr projectionEvaluator_; 00238 00240 double goalBias_; 00241 00243 double maxDistance_; 00244 00246 RNG rng_; 00247 00249 CellPDF pdf_; 00250 00252 Motion *lastGoalMotion_; 00253 }; 00254 00255 } 00256 } 00257 00258 #endif