LBKPIECE1.h

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/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_LBKPIECE1_
#define OMPL_GEOMETRIC_PLANNERS_KPIECE_LBKPIECE1_

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

namespace ompl
{

    namespace geometric
    {

        class LBKPIECE1 : public base::Planner
        {
        public:

            LBKPIECE1(const base::SpaceInformationPtr &si) : base::Planner(si, "LBKPIECE1"),
                                                             dStart_(boost::bind(&LBKPIECE1::freeMotion, this, _1)),
                                                             dGoal_(boost::bind(&LBKPIECE1::freeMotion, this, _1))
            {
                type_ = base::PLAN_TO_GOAL_SAMPLEABLE_REGION;

                minValidPathFraction_ = 0.5;
                maxDistance_ = 0.0;
            }

            virtual ~LBKPIECE1(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 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), valid(false)
                {
                }

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

                ~Motion(void)
                {
                }

                const base::State   *root;

                base::State         *state;

                Motion              *parent;

                bool                 valid;

                std::vector<Motion*> children;
            };

            void freeMotion(Motion *motion);

            void removeMotion(Discretization<Motion> &disc, Motion* motion);

            bool isPathValid(Discretization<Motion> &disc, Motion* motion, base::State *temp);

            base::StateSamplerPtr              sampler_;

            base::ProjectionEvaluatorPtr               projectionEvaluator_;

            Discretization<Motion>                     dStart_;

            Discretization<Motion>                     dGoal_;

            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