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RRTstar.h
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00034 
00035 /* Authors: Alejandro Perez, Sertac Karaman, Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTRIB_RRT_STAR_RRTSTAR_
00038 #define OMPL_CONTRIB_RRT_STAR_RRTSTAR_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/datastructures/NearestNeighbors.h"
00042 #include "ompl/base/spaces/RealVectorStateSpace.h"
00043 #include <limits>
00044 #include <vector>
00045 
00046 
00047 namespace ompl
00048 {
00049 
00050     namespace geometric
00051     {
00052 
00077         class RRTstar : public base::Planner
00078         {
00079         public:
00080 
00081             RRTstar(const base::SpaceInformationPtr &si);
00082 
00083             virtual ~RRTstar(void);
00084 
00085             virtual void getPlannerData(base::PlannerData &data) const;
00086 
00087             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00088 
00089             virtual void clear(void);
00090 
00100             void setGoalBias(double goalBias)
00101             {
00102                 goalBias_ = goalBias;
00103             }
00104 
00106             double getGoalBias(void) const
00107             {
00108                 return goalBias_;
00109             }
00110 
00116             void setRange(double distance)
00117             {
00118                 maxDistance_ = distance;
00119             }
00120 
00122             double getRange(void) const
00123             {
00124                 return maxDistance_;
00125             }
00126 
00136             void setBallRadiusConstant(double ballRadiusConstant)
00137             {
00138                 ballRadiusConst_ = ballRadiusConstant;
00139             }
00140 
00144             double getBallRadiusConstant(void) const
00145             {
00146                 return ballRadiusConst_;
00147             }
00148 
00157             void setMaxBallRadius(double maxBallRadius)
00158             {
00159                 ballRadiusMax_ = maxBallRadius;
00160             }
00161 
00164             double getMaxBallRadius(void) const
00165             {
00166                 return ballRadiusMax_;
00167             }
00168 
00170             template<template<typename T> class NN>
00171             void setNearestNeighbors(void)
00172             {
00173                 nn_.reset(new NN<Motion*>());
00174             }
00175 
00183             void setDelayCC(bool delayCC)
00184             {
00185                 delayCC_ = delayCC;
00186             }
00187 
00189             bool getDelayCC(void) const
00190             {
00191                 return delayCC_;
00192             }
00193 
00194             virtual void setup(void);
00195 
00196         protected:
00197 
00198 
00200             class Motion
00201             {
00202             public:
00203 
00204                 Motion(void) : state(NULL), parent(NULL), cost(0.0)
00205                 {
00206                 }
00207 
00209                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL), cost(0.0)
00210                 {
00211                 }
00212 
00213                 ~Motion(void)
00214                 {
00215                 }
00216 
00218                 base::State       *state;
00219 
00221                 Motion            *parent;
00222 
00224                 double             cost;
00225 
00227                 std::vector<Motion*> children;
00228             };
00229 
00231             void freeMemory(void);
00232 
00234             static bool compareMotion(const Motion* a, const Motion* b)
00235             {
00236                 return (a->cost < b->cost);
00237             }
00238 
00240             double distanceFunction(const Motion* a, const Motion* b) const
00241             {
00242                 return si_->distance(a->state, b->state);
00243             }
00244 
00246             void removeFromParent(Motion *m);
00247 
00249             void updateChildCosts(Motion *m, double delta);
00250 
00252             base::StateSamplerPtr                          sampler_;
00253 
00255             boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
00256 
00258             double                                         goalBias_;
00259 
00261             double                                         maxDistance_;
00262 
00264             RNG                                            rng_;
00265 
00267             double                                         ballRadiusConst_;
00268 
00270             double                                         ballRadiusMax_;
00271 
00273             bool                                           delayCC_;
00274 
00275         };
00276 
00277     }
00278 }
00279 
00280 #endif