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LBKPIECE1.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_LBKPIECE1_
00038 #define OMPL_GEOMETRIC_PLANNERS_KPIECE_LBKPIECE1_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/geometric/planners/kpiece/Discretization.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace geometric
00047     {
00048 
00081         class LBKPIECE1 : public base::Planner
00082         {
00083         public:
00084 
00086             LBKPIECE1(const base::SpaceInformationPtr &si);
00087 
00088             virtual ~LBKPIECE1(void);
00089 
00092             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00093             {
00094                 projectionEvaluator_ = projectionEvaluator;
00095             }
00096 
00099             void setProjectionEvaluator(const std::string &name)
00100             {
00101                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00102             }
00103 
00105             const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const
00106             {
00107                 return projectionEvaluator_;
00108             }
00109 
00115             void setRange(double distance)
00116             {
00117                 maxDistance_ = distance;
00118             }
00119 
00121             double getRange(void) const
00122             {
00123                 return maxDistance_;
00124             }
00131             void setBorderFraction(double bp)
00132             {
00133                 dStart_.setBorderFraction(bp);
00134                 dGoal_.setBorderFraction(bp);
00135             }
00136 
00139             double getBorderFraction(void) const
00140             {
00141                 return dStart_.getBorderFraction();
00142             }
00143 
00150             void setMinValidPathFraction(double fraction)
00151             {
00152                 minValidPathFraction_ = fraction;
00153             }
00154 
00156             double getMinValidPathFraction(void) const
00157             {
00158                 return minValidPathFraction_;
00159             }
00160 
00161             virtual void setup(void);
00162 
00163             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00164             virtual void clear(void);
00165 
00166             virtual void getPlannerData(base::PlannerData &data) const;
00167 
00168         protected:
00169 
00171             class Motion
00172             {
00173             public:
00174 
00175                 Motion(void) : root(NULL), state(NULL), parent(NULL), valid(false)
00176                 {
00177                 }
00178 
00180                 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL), valid(false)
00181                 {
00182                 }
00183 
00184                 ~Motion(void)
00185                 {
00186                 }
00187 
00189                 const base::State   *root;
00190 
00192                 base::State         *state;
00193 
00195                 Motion              *parent;
00196 
00198                 bool                 valid;
00199 
00201                 std::vector<Motion*> children;
00202             };
00203 
00205             void freeMotion(Motion *motion);
00206 
00208             void removeMotion(Discretization<Motion> &disc, Motion* motion);
00209 
00215             bool isPathValid(Discretization<Motion> &disc, Motion* motion, base::State *temp);
00216 
00218             base::StateSamplerPtr              sampler_;
00219 
00221             base::ProjectionEvaluatorPtr               projectionEvaluator_;
00222 
00224             Discretization<Motion>                     dStart_;
00225 
00227             Discretization<Motion>                     dGoal_;
00228 
00234             double                                     minValidPathFraction_;
00235 
00237             double                                     maxDistance_;
00238 
00240             RNG                                        rng_;
00241         };
00242 
00243     }
00244 }
00245 
00246 
00247 #endif