BasicPRM.h

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/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PLANNERS_PRM_BASIC_PRM_
#define OMPL_GEOMETRIC_PLANNERS_PRM_BASIC_PRM_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include <utility>
#include <vector>
#include <map>

namespace ompl
{

    namespace geometric
    {

        class BasicPRM : public base::Planner
        {
        public:

            BasicPRM(const base::SpaceInformationPtr &si) : base::Planner(si, "BasicPRM")
            {
                type_ = base::PLAN_TO_GOAL_SAMPLEABLE_REGION;

                maxNearestNeighbors_ = 10;
                componentCount_ = 0;
                lastStart_ = NULL;
                lastGoal_ = NULL;
            }

            virtual ~BasicPRM(void)
            {
                freeMemory();
            }

            virtual void setProblemDefinition(const base::ProblemDefinitionPtr &pdef);

            void setMaxNearestNeighbors(unsigned int maxNearestNeighbors)
            {
                maxNearestNeighbors_ = maxNearestNeighbors;
            }

            unsigned int getMaxNearestNeighbors(void) const
            {
                return maxNearestNeighbors_;
            }

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

            virtual void growRoadmap(double growTime);

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

            virtual void reconstructLastSolution(void);

            virtual void clear(void);

            template<template<typename T> class NN>
            void setNearestNeighbors(void)
            {
                nn_.reset(new NN<Milestone*>());
            }

            virtual void setup(void);

        protected:


            class Milestone
            {
            public:

                Milestone(void) : state(NULL), index(0)
                {
                }

                Milestone(const base::SpaceInformationPtr &si) : state(si->allocState()), index(0)
                {
                }

                ~Milestone(void)
                {
                }

                base::State            *state;

                unsigned int            index;

                unsigned long           component;

                std::vector<Milestone*> adjacent;

                std::vector<double>     costs;
            };

            void freeMemory(void);

            virtual void nearestNeighbors(Milestone *milestone, std::vector<Milestone*> &nbh);

            Milestone* addMilestone(base::State *state);

            void uniteComponents(Milestone *m1, Milestone *m2);

            void growRoadmap(const std::vector<Milestone*> &start, const std::vector<Milestone*> &goal, const base::PlannerTerminationCondition &ptc, base::State *workState);

            bool haveSolution(const std::vector<Milestone*> &start, const std::vector<Milestone*> &goal, std::pair<Milestone*, Milestone*> *endpoints = NULL);

            void constructSolution(const Milestone* start, const Milestone* goal);

            double distanceFunction(const Milestone* a, const Milestone* b) const
            {
                return si_->distance(a->state, b->state);
            }

            base::ValidStateSamplerPtr                        sampler_;

            boost::shared_ptr< NearestNeighbors<Milestone*> > nn_;

            std::vector<Milestone*>                           milestones_;

            std::vector<Milestone*>                           startM_;

            std::vector<Milestone*>                           goalM_;

            const Milestone                                  *lastStart_;

            const Milestone                                  *lastGoal_;

            unsigned int                                      maxNearestNeighbors_;

            std::map<unsigned long, unsigned long>            componentSizes_;

            unsigned long                                     componentCount_;

            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