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pRRT.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_
00038 #define OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/base/StateSamplerArray.h"
00042 #include "ompl/datastructures/NearestNeighbors.h"
00043 #include <boost/thread/mutex.hpp>
00044 
00045 namespace ompl
00046 {
00047 
00048     namespace geometric
00049     {
00050 
00069         class pRRT : public base::Planner
00070         {
00071         public:
00072 
00073             pRRT(const base::SpaceInformationPtr &si) : base::Planner(si, "pRRT"),
00074                                                         samplerArray_(si)
00075             {
00076                 type_ = base::PLAN_TO_GOAL_ANY;
00077 
00078                 setThreadCount(2);
00079                 goalBias_ = 0.05;
00080                 maxDistance_ = 0.0;
00081             }
00082 
00083             virtual ~pRRT(void)
00084             {
00085                 freeMemory();
00086             }
00087 
00088             virtual void getPlannerData(base::PlannerData &data) const;
00089 
00090             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00091 
00092             virtual void clear(void);
00093 
00103             void setGoalBias(double goalBias)
00104             {
00105                 goalBias_ = goalBias;
00106             }
00107 
00109             double getGoalBias(void) const
00110             {
00111                 return goalBias_;
00112             }
00113 
00119             void setRange(double distance)
00120             {
00121                 maxDistance_ = distance;
00122             }
00123 
00125             double getRange(void) const
00126             {
00127                 return maxDistance_;
00128             }
00129 
00131             void setThreadCount(unsigned int nthreads);
00132 
00133             unsigned int getThreadCount(void) const
00134             {
00135                 return threadCount_;
00136             }
00137 
00139             template<template<typename T> class NN>
00140             void setNearestNeighbors(void)
00141             {
00142                 nn_.reset(new NN<Motion*>());
00143             }
00144 
00145             virtual void setup(void);
00146 
00147         protected:
00148 
00149             class Motion
00150             {
00151             public:
00152 
00153                 Motion(void) : state(NULL), parent(NULL)
00154                 {
00155                 }
00156 
00157                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
00158                 {
00159                 }
00160 
00161                 ~Motion(void)
00162                 {
00163                 }
00164 
00165                 base::State       *state;
00166                 Motion            *parent;
00167 
00168             };
00169 
00170             struct SolutionInfo
00171             {
00172                 Motion      *solution;
00173                 Motion      *approxsol;
00174                 double       approxdif;
00175                 boost::mutex lock;
00176             };
00177 
00178             void threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol);
00179             void freeMemory(void);
00180 
00181             double distanceFunction(const Motion* a, const Motion* b) const
00182             {
00183                 return si_->distance(a->state, b->state);
00184             }
00185 
00186             base::StateSamplerArray<base::ManifoldStateSampler> samplerArray_;
00187             boost::shared_ptr< NearestNeighbors<Motion*> >      nn_;
00188             boost::mutex                                        nnLock_;
00189 
00190             unsigned int                                        threadCount_;
00191 
00192             double                                              goalBias_;
00193             double                                              maxDistance_;
00194         };
00195 
00196     }
00197 }
00198 
00199 #endif
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