RRTConnect.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  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 Willow Garage 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_RRT_RRT_CONNECT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_

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

namespace ompl
{

    namespace geometric
    {

        class RRTConnect : public base::Planner
        {
        public:

            RRTConnect(const base::SpaceInformationPtr &si) : base::Planner(si, "RRTConnect")
            {
                type_ = base::PLAN_TO_GOAL_SAMPLEABLE_REGION;
                maxDistance_ = 0.0;
            }

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

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

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

            virtual void clear(void);

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

            double getRange(void) const
            {
                return maxDistance_;
            }

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

            virtual void setup(void);

        protected:

            class Motion
            {
            public:

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

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

                ~Motion(void)
                {
                }

                const base::State *root;
                base::State       *state;
                Motion            *parent;

            };

            typedef boost::shared_ptr< NearestNeighbors<Motion*> > TreeData;

            struct TreeGrowingInfo
            {
                base::State         *xstate;
                Motion              *xmotion;
            };

            enum GrowState
                {
                    TRAPPED,
                    ADVANCED,
                    REACHED
                };

            void freeMemory(void);

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

            GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion);

            base::StateSamplerPtr sampler_;

            TreeData                      tStart_;

            TreeData                      tGoal_;

            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 09:33:20 2013