RRT.h

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#ifndef __RRT_H__
#define __RRT_H__
 
#include <vector>
#include <string>
#include <iostream>
#include <stdio.h>
 
#include "PathPlanner.h"
#include "Algorithm.h"
#include "Roadmap.h"
 
namespace PathEngine {
 
  class RRT
    : public Algorithm {
  public:
    typedef boost::function1<bool, const Configuration &> extraConnectionCheckFunc;
 
  private:
    enum ExtendResult {
      Advanced, 
      Trapped,  
      Reached   
    };
 
    RoadmapPtr Tstart_;
 
    RoadmapPtr Tgoal_;
 
    RoadmapPtr TlastExtended_;
 
    RoadmapPtr Ta_, Tb_;
 
    int extend(RoadmapPtr tree, Configuration& qRand, bool reverse=false);
 
    int connect(RoadmapPtr tree, const Configuration& qNew, bool reverse=false);
 
    void swapTrees();
 
    double eps_;
 
    int times_;
 
    bool extendFromStart_;
 
    bool extendFromGoal_;
 
    extraConnectionCheckFunc extraConnectionCheckFunc_;
 
  public:
    RRT(PathPlanner* planner);
 
    ~RRT();
 
    bool calcPath();
 
    void extendFromStart(bool b) { extendFromStart_ = b; }
 
    void extendFromGoal(bool b) { extendFromGoal_ = b; }
 
    void extractPath();
 
    void extractPath(std::vector<Configuration>& o_path);
 
    RoadmapPtr getForwardTree() { return Tstart_; }
 
    void setForwardTree(RoadmapPtr tree);
 
    RoadmapPtr getBackwardTree() { return Tgoal_; }
 
    RoadmapPtr getLastExtendedTree() { return TlastExtended_; }
 
    void setBackwardTree(RoadmapPtr tree);
 
    bool extendOneStep();
 
    void epsilon(double e) { eps_ = e; }
 
    void setExtraConnectionCheckFunc(extraConnectionCheckFunc i_func);
  };
};
 
 
#endif // __RRT_H__