00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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 00076 class EST : public base::Planner 00077 { 00078 public: 00079 00081 EST(const base::SpaceInformationPtr &si); 00082 00083 virtual ~EST(void); 00084 00085 virtual bool solve(const base::PlannerTerminationCondition &ptc); 00086 00087 virtual void clear(void); 00088 00096 void setGoalBias(double goalBias) 00097 { 00098 goalBias_ = goalBias; 00099 } 00100 00102 double getGoalBias(void) const 00103 { 00104 return goalBias_; 00105 } 00106 00112 void setRange(double distance) 00113 { 00114 maxDistance_ = distance; 00115 } 00116 00118 double getRange(void) const 00119 { 00120 return maxDistance_; 00121 } 00122 00125 void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator) 00126 { 00127 projectionEvaluator_ = projectionEvaluator; 00128 } 00129 00132 void setProjectionEvaluator(const std::string &name) 00133 { 00134 projectionEvaluator_ = si_->getStateSpace()->getProjection(name); 00135 } 00136 00138 const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const 00139 { 00140 return projectionEvaluator_; 00141 } 00142 00143 virtual void setup(void); 00144 00145 virtual void getPlannerData(base::PlannerData &data) const; 00146 00147 protected: 00148 00150 class Motion 00151 { 00152 public: 00153 00154 Motion(void) : state(NULL), parent(NULL) 00155 { 00156 } 00157 00159 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL) 00160 { 00161 } 00162 00163 ~Motion(void) 00164 { 00165 } 00166 00168 base::State *state; 00169 00171 Motion *parent; 00172 }; 00173 00174 struct MotionInfo; 00175 00177 typedef Grid<MotionInfo>::Cell GridCell; 00178 00180 typedef PDF<GridCell*> CellPDF; 00181 00183 struct MotionInfo 00184 { 00185 Motion* operator[](unsigned int i) 00186 { 00187 return motions_[i]; 00188 } 00189 const Motion* operator[](unsigned int i) const 00190 { 00191 return motions_[i]; 00192 } 00193 void push_back(Motion* m) 00194 { 00195 motions_.push_back(m); 00196 } 00197 unsigned int size(void) const 00198 { 00199 return motions_.size(); 00200 } 00201 bool empty(void) const 00202 { 00203 return motions_.empty(); 00204 } 00205 std::vector<Motion*> motions_; 00206 CellPDF::Element* elem_; 00207 }; 00208 00209 00211 struct TreeData 00212 { 00213 TreeData(void) : grid(0), size(0) 00214 { 00215 } 00216 00218 Grid<MotionInfo> grid; 00219 00221 unsigned int size; 00222 }; 00223 00225 void freeMemory(void); 00226 00228 void addMotion(Motion *motion); 00229 00231 Motion* selectMotion(void); 00232 00234 base::ValidStateSamplerPtr sampler_; 00235 00237 TreeData tree_; 00238 00240 base::ProjectionEvaluatorPtr projectionEvaluator_; 00241 00243 double goalBias_; 00244 00246 double maxDistance_; 00247 00249 RNG rng_; 00250 00252 CellPDF pdf_; 00253 }; 00254 00255 } 00256 } 00257 00258 #endif