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SBL.h
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00002 * Software License Agreement (BSD License)
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_SBL_SBL_
00038 #define OMPL_GEOMETRIC_PLANNERS_SBL_SBL_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/base/ProjectionEvaluator.h"
00042 #include "ompl/datastructures/Grid.h"
00043 #include <vector>
00044 
00045 namespace ompl
00046 {
00047 
00048     namespace geometric
00049     {
00050 
00086         class SBL : public base::Planner
00087         {
00088         public:
00089 
00091             SBL(const base::SpaceInformationPtr &si) : base::Planner(si, "SBL")
00092             {
00093                 type_ = base::PLAN_TO_GOAL_SAMPLEABLE_REGION;
00094 
00095                 maxDistance_ = 0.0;
00096             }
00097 
00098             virtual ~SBL(void)
00099             {
00100                 freeMemory();
00101             }
00102 
00105             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00106             {
00107                 projectionEvaluator_ = projectionEvaluator;
00108             }
00109 
00112             void setProjectionEvaluator(const std::string &name)
00113             {
00114                 projectionEvaluator_ = si_->getStateManifold()->getProjection(name);
00115             }
00116 
00118             const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const
00119             {
00120                 return projectionEvaluator_;
00121             }
00122 
00128             void setRange(double distance)
00129             {
00130                 maxDistance_ = distance;
00131             }
00132 
00134             double getRange(void) const
00135             {
00136                 return maxDistance_;
00137             }
00138 
00139             virtual void setup(void);
00140 
00141             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00142 
00143             virtual void clear(void);
00144 
00145             virtual void getPlannerData(base::PlannerData &data) const;
00146 
00147         protected:
00148 
00149             class Motion;
00150 
00152             typedef std::vector<Motion*> MotionSet;
00153 
00155             class Motion
00156             {
00157             public:
00158 
00160                 Motion(void) : root(NULL), state(NULL), parent(NULL), valid(false)
00161                 {
00162                 }
00163 
00165                 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL), valid(false)
00166                 {
00167                 }
00168 
00169                 ~Motion(void)
00170                 {
00171                 }
00172 
00174                 const base::State *root;
00175 
00177                 base::State       *state;
00178 
00180                 Motion            *parent;
00181 
00183                 bool               valid;
00184 
00186                 MotionSet          children;
00187             };
00188 
00190             struct TreeData
00191             {
00192                 TreeData(void) : grid(0), size(0)
00193                 {
00194                 }
00195 
00197                 Grid<MotionSet> grid;
00198 
00200                 unsigned int    size;
00201             };
00202 
00204             void freeMemory(void)
00205             {
00206                 freeGridMotions(tStart_.grid);
00207                 freeGridMotions(tGoal_.grid);
00208             }
00209 
00211             void freeGridMotions(Grid<MotionSet> &grid);
00212 
00214             void addMotion(TreeData &tree, Motion *motion);
00215 
00217             Motion* selectMotion(TreeData &tree);
00218 
00220             void removeMotion(TreeData &tree, Motion *motion);
00221 
00227             bool isPathValid(TreeData &tree, Motion *motion);
00228 
00230             bool checkSolution(bool start, TreeData &tree, TreeData &otherTree, Motion *motion, std::vector<Motion*> &solution);
00231 
00233             base::ValidStateSamplerPtr                 sampler_;
00234 
00236             base::ProjectionEvaluatorPtr               projectionEvaluator_;
00237 
00239             TreeData                                   tStart_;
00240 
00242             TreeData                                   tGoal_;
00243 
00245             double                                     maxDistance_;
00246 
00248             RNG                                        rng_;
00249         };
00250 
00251     }
00252 }
00253 
00254 #endif
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