All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator
RRTConnect.h
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_RRT_RRT_CONNECT_
00038 #define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/datastructures/NearestNeighbors.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace geometric
00047     {
00048 
00063         class RRTConnect : public base::Planner
00064         {
00065         public:
00066 
00068             RRTConnect(const base::SpaceInformationPtr &si);
00069 
00070             virtual ~RRTConnect(void);
00071 
00072             virtual void getPlannerData(base::PlannerData &data) const;
00073 
00074             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00075 
00076             virtual void clear(void);
00077 
00083             void setRange(double distance)
00084             {
00085                 maxDistance_ = distance;
00086             }
00087 
00089             double getRange(void) const
00090             {
00091                 return maxDistance_;
00092             }
00093 
00095             template<template<typename T> class NN>
00096             void setNearestNeighbors(void)
00097             {
00098                 tStart_.reset(new NN<Motion*>());
00099                 tGoal_.reset(new NN<Motion*>());
00100             }
00101 
00102             virtual void setup(void);
00103 
00104         protected:
00105 
00107             class Motion
00108             {
00109             public:
00110 
00111                 Motion(void) : root(NULL), state(NULL), parent(NULL)
00112                 {
00113                     parent = NULL;
00114                     state  = NULL;
00115                 }
00116 
00117                 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL)
00118                 {
00119                 }
00120 
00121                 ~Motion(void)
00122                 {
00123                 }
00124 
00125                 const base::State *root;
00126                 base::State       *state;
00127                 Motion            *parent;
00128 
00129             };
00130 
00132             typedef boost::shared_ptr< NearestNeighbors<Motion*> > TreeData;
00133 
00135             struct TreeGrowingInfo
00136             {
00137                 base::State         *xstate;
00138                 Motion              *xmotion;
00139             };
00140 
00142             enum GrowState
00143                 {
00145                     TRAPPED,
00147                     ADVANCED,
00149                     REACHED
00150                 };
00151 
00153             void freeMemory(void);
00154 
00156             double distanceFunction(const Motion* a, const Motion* b) const
00157             {
00158                 return si_->distance(a->state, b->state);
00159             }
00160 
00162             GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion);
00163 
00165             base::StateSamplerPtr         sampler_;
00166 
00168             TreeData                      tStart_;
00169 
00171             TreeData                      tGoal_;
00172 
00174             double                        maxDistance_;
00175 
00177             RNG                           rng_;
00178         };
00179 
00180     }
00181 }
00182 
00183 #endif