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EST.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_EST_EST_
00038 #define OMPL_GEOMETRIC_PLANNERS_EST_EST_
00039 
00040 #include "ompl/datastructures/Grid.h"
00041 #include "ompl/geometric/planners/PlannerIncludes.h"
00042 #include "ompl/base/ProjectionEvaluator.h"
00043 #include <vector>
00044 
00045 namespace ompl
00046 {
00047 
00048     namespace geometric
00049     {
00050 
00075         class EST : public base::Planner
00076         {
00077         public:
00078 
00080             EST(const base::SpaceInformationPtr &si) : base::Planner(si, "EST")
00081             {
00082                 type_ = base::PLAN_TO_GOAL_ANY;
00083 
00084                 goalBias_ = 0.05;
00085                 maxDistance_ = 0.0;
00086             }
00087 
00088             virtual ~EST(void)
00089             {
00090                 freeMemory();
00091             }
00092 
00093             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00094 
00095             virtual void clear(void);
00096 
00104             void setGoalBias(double goalBias)
00105             {
00106                 goalBias_ = goalBias;
00107             }
00108 
00110             double getGoalBias(void) const
00111             {
00112                 return goalBias_;
00113             }
00114 
00120             void setRange(double distance)
00121             {
00122                 maxDistance_ = distance;
00123             }
00124 
00126             double getRange(void) const
00127             {
00128                 return maxDistance_;
00129             }
00130 
00133             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00134             {
00135                 projectionEvaluator_ = projectionEvaluator;
00136             }
00137 
00140             void setProjectionEvaluator(const std::string &name)
00141             {
00142                 projectionEvaluator_ = si_->getStateManifold()->getProjection(name);
00143             }
00144 
00146             const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const
00147             {
00148                 return projectionEvaluator_;
00149             }
00150 
00151             virtual void setup(void);
00152 
00153             virtual void getPlannerData(base::PlannerData &data) const;
00154 
00155         protected:
00156 
00158             class Motion
00159             {
00160             public:
00161 
00162                 Motion(void) : state(NULL), parent(NULL)
00163                 {
00164                 }
00165 
00167                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
00168                 {
00169                 }
00170 
00171                 ~Motion(void)
00172                 {
00173                 }
00174 
00176                 base::State       *state;
00177 
00179                 Motion            *parent;
00180             };
00181 
00183             typedef std::vector<Motion*> MotionSet;
00184 
00186             struct TreeData
00187             {
00188                 TreeData(void) : grid(0), size(0)
00189                 {
00190                 }
00191 
00193                 Grid<MotionSet> grid;
00194 
00196                 unsigned int    size;
00197             };
00198 
00200             void freeMemory(void);
00201 
00203             void addMotion(Motion *motion);
00204 
00206             Motion* selectMotion(void);
00207 
00209             base::ValidStateSamplerPtr   sampler_;
00210 
00212             TreeData                     tree_;
00213 
00215             base::ProjectionEvaluatorPtr projectionEvaluator_;
00216 
00218             double                       goalBias_;
00219 
00221             double                       maxDistance_;
00222 
00224             RNG                          rng_;
00225         };
00226 
00227     }
00228 }
00229 
00230 #endif
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