00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: TKruse 00036 *********************************************************************/ 00037 00038 #ifndef SIMPLE_SCORED_SAMPLING_PLANNER_H_ 00039 #define SIMPLE_SCORED_SAMPLING_PLANNER_H_ 00040 00041 #include <vector> 00042 #include <base_local_planner/trajectory.h> 00043 #include <base_local_planner/trajectory_cost_function.h> 00044 #include <base_local_planner/trajectory_sample_generator.h> 00045 #include <base_local_planner/trajectory_search.h> 00046 00047 namespace base_local_planner { 00048 00058 class SimpleScoredSamplingPlanner : public base_local_planner::TrajectorySearch { 00059 public: 00060 00061 ~SimpleScoredSamplingPlanner() {} 00062 00063 SimpleScoredSamplingPlanner() {} 00064 00074 SimpleScoredSamplingPlanner(std::vector<TrajectorySampleGenerator*> gen_list, std::vector<TrajectoryCostFunction*>& critics, int max_samples = -1); 00075 00081 double scoreTrajectory(Trajectory& traj, double best_traj_cost); 00082 00094 bool findBestTrajectory(Trajectory& traj, std::vector<Trajectory>* all_explored = 0); 00095 00096 00097 private: 00098 std::vector<TrajectorySampleGenerator*> gen_list_; 00099 std::vector<TrajectoryCostFunction*> critics_; 00100 00101 int max_samples_; 00102 }; 00103 00104 00105 00106 00107 } // namespace 00108 00109 #endif /* SIMPLE_SCORED_SAMPLING_PLANNER_H_ */