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_KPIECE_KPIECE1_ 00038 #define OMPL_GEOMETRIC_PLANNERS_KPIECE_KPIECE1_ 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 00049 00076 class KPIECE1 : public base::Planner 00077 { 00078 public: 00079 00081 KPIECE1(const base::SpaceInformationPtr &si); 00082 00083 virtual ~KPIECE1(void); 00084 00085 virtual bool solve(const base::PlannerTerminationCondition &ptc); 00086 00087 virtual void clear(void); 00088 00098 void setGoalBias(double goalBias) 00099 { 00100 goalBias_ = goalBias; 00101 } 00102 00104 double getGoalBias(void) const 00105 { 00106 return goalBias_; 00107 } 00108 00114 void setRange(double distance) 00115 { 00116 maxDistance_ = distance; 00117 } 00118 00120 double getRange(void) const 00121 { 00122 return maxDistance_; 00123 } 00124 00131 void setBorderFraction(double bp) 00132 { 00133 disc_.setBorderFraction(bp); 00134 } 00135 00138 double getBorderFraction(void) const 00139 { 00140 return disc_.getBorderFraction(); 00141 } 00142 00149 void setMinValidPathFraction(double fraction) 00150 { 00151 minValidPathFraction_ = fraction; 00152 } 00153 00155 double getMinValidPathFraction(void) const 00156 { 00157 return minValidPathFraction_; 00158 } 00159 00164 void setFailedExpansionCellScoreFactor(double factor) 00165 { 00166 failedExpansionScoreFactor_ = factor; 00167 } 00168 00171 double getFailedExpansionCellScoreFactor(void) const 00172 { 00173 return failedExpansionScoreFactor_; 00174 } 00175 00178 void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator) 00179 { 00180 projectionEvaluator_ = projectionEvaluator; 00181 } 00182 00185 void setProjectionEvaluator(const std::string &name) 00186 { 00187 projectionEvaluator_ = si_->getStateSpace()->getProjection(name); 00188 } 00189 00191 const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const 00192 { 00193 return projectionEvaluator_; 00194 } 00195 00196 virtual void setup(void); 00197 00198 virtual void getPlannerData(base::PlannerData &data) const; 00199 00200 protected: 00201 00203 class Motion 00204 { 00205 public: 00206 00207 Motion(void) : state(NULL), parent(NULL) 00208 { 00209 } 00210 00212 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL) 00213 { 00214 } 00215 00216 ~Motion(void) 00217 { 00218 } 00219 00221 base::State *state; 00222 00224 Motion *parent; 00225 }; 00226 00228 void freeMotion(Motion *motion); 00229 00231 base::StateSamplerPtr sampler_; 00232 00234 Discretization<Motion> disc_; 00235 00239 base::ProjectionEvaluatorPtr projectionEvaluator_; 00240 00244 double failedExpansionScoreFactor_; 00245 00247 double goalBias_; 00248 00254 double minValidPathFraction_; 00255 00257 double maxDistance_; 00258 00260 RNG rng_; 00261 }; 00262 00263 } 00264 } 00265 00266 #endif