BKPIECE1.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Rice University,
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Rice University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_
#define OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/geometric/planners/kpiece/Discretization.h"

namespace ompl
{

    namespace geometric
    {

        class BKPIECE1 : public base::Planner
        {
        public:

            BKPIECE1(const base::SpaceInformationPtr &si) : base::Planner(si, "BKPIECE1"),
                                                            dStart_(boost::bind(&BKPIECE1::freeMotion, this, _1)),
                                                            dGoal_(boost::bind(&BKPIECE1::freeMotion, this, _1))
            {
                type_ = base::PLAN_TO_GOAL_SAMPLEABLE_REGION;

                minValidPathFraction_ = 0.5;
                badScoreFactor_ = 0.5;
                goodScoreFactor_ = 0.9;
                maxDistance_ = 0.0;
            }

            virtual ~BKPIECE1(void)
            {
            }

            void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
            {
                projectionEvaluator_ = projectionEvaluator;
            }

            void setProjectionEvaluator(const std::string &name)
            {
                projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
            }

            const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const
            {
                return projectionEvaluator_;
            }

            void setRange(double distance)
            {
                maxDistance_ = distance;
            }

            double getRange(void) const
            {
                return maxDistance_;
            }

            void setBorderFraction(double bp)
            {
                dStart_.setBorderFraction(bp);
                dGoal_.setBorderFraction(bp);
            }

            double getBorderFraction(void) const
            {
                return dStart_.getBorderFraction();
            }

            void setCellScoreFactor(double good, double bad)
            {
                goodScoreFactor_ = good;
                badScoreFactor_ = bad;
            }

            double getGoodCellScoreFactor(void) const
            {
                return goodScoreFactor_;
            }

            double getBadCellScoreFactor(void) const
            {
                return badScoreFactor_;
            }

            void setMinValidPathFraction(double fraction)
            {
                minValidPathFraction_ = fraction;
            }

            double getMinValidPathFraction(void) const
            {
                return minValidPathFraction_;
            }

            virtual void setup(void);

            virtual bool solve(const base::PlannerTerminationCondition &ptc);
            virtual void clear(void);

            virtual void getPlannerData(base::PlannerData &data) const;

        protected:

            class Motion
            {
            public:

                Motion(void) : root(NULL), state(NULL), parent(NULL)
                {
                }

                Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL)
                {
                }

                ~Motion(void)
                {
                }

                const base::State   *root;

                base::State         *state;

                Motion              *parent;
            };

            void freeMotion(Motion *motion);

            base::ValidStateSamplerPtr                 sampler_;

            base::ProjectionEvaluatorPtr               projectionEvaluator_;

            Discretization<Motion>                     dStart_;

            Discretization<Motion>                     dGoal_;

            double                                     goodScoreFactor_;

            double                                     badScoreFactor_;

            double                                     minValidPathFraction_;

            double                                     maxDistance_;

            RNG                                        rng_;
        };

    }
}


#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:19 2013