LazyRRT.h

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/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_LAZY_RRT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_LAZY_RRT_

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

namespace ompl
{

    namespace geometric
    {

        class LazyRRT : public base::Planner
        {
        public:

            LazyRRT(const base::SpaceInformationPtr &si) : base::Planner(si, "LazyRRT")
            {
                type_ = base::PLAN_TO_GOAL_ANY;

                goalBias_ = 0.05;
                maxDistance_ = 0.0;
            }

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

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

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

            virtual void clear(void);

            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }

            double getGoalBias(void) const
            {
                return goalBias_;
            }

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

            double getRange(void) const
            {
                return maxDistance_;
            }

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

            virtual void setup(void);

        protected:

            class Motion
            {
            public:

                Motion(void) : state(NULL), parent(NULL), valid(false)
                {
                }

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

                ~Motion(void)
                {
                }

                base::State          *state;

                Motion               *parent;

                bool                  valid;

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

            void freeMemory(void);

            void removeMotion(Motion *motion);

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

            base::StateSamplerPtr                  sampler_;

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

            double                                         goalBias_;

            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