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SyclopRRT.h
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34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
38 #define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
39 
40 #include "ompl/control/planners/syclop/Syclop.h"
41 #include "ompl/control/planners/syclop/Decomposition.h"
42 #include "ompl/control/planners/syclop/GridDecomposition.h"
43 #include "ompl/datastructures/NearestNeighbors.h"
44 
45 namespace ompl
46 {
47  namespace control
48  {
52  class SyclopRRT : public Syclop
53  {
54  public:
56  SyclopRRT(const SpaceInformationPtr& si, const DecompositionPtr &d) : Syclop(si,d,"SyclopRRT"), regionalNN_(false)
57  {
58  }
59 
60  virtual ~SyclopRRT(void)
61  {
62  freeMemory();
63  }
64 
65  virtual void setup(void);
66  virtual void clear(void);
67  virtual void getPlannerData(base::PlannerData& data) const;
68 
75  void setRegionalNearestNeighbors(bool enabled)
76  {
77  regionalNN_ = enabled;
78  }
79 
81  template<template<typename T> class NN>
83  {
84  regionalNN_ = false;
85  nn_.reset(new NN<Motion*>());
86  }
87 
88  protected:
89  virtual Syclop::Motion* addRoot(const base::State* s);
90  virtual void selectAndExtend(Region& region, std::vector<Motion*>& newMotions);
91 
93  void freeMemory(void);
94 
96  double distanceFunction(const Motion* a, const Motion* b) const
97  {
98  return si_->distance(a->state, b->state);
99  }
100 
101  base::StateSamplerPtr sampler_;
102  DirectedControlSamplerPtr controlSampler_;
103  boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
104  bool regionalNN_;
105 
108  };
109  }
110 }
111 #endif