SBL.h

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/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PLANNERS_SBL_SBL_
#define OMPL_GEOMETRIC_PLANNERS_SBL_SBL_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/base/ProjectionEvaluator.h"
#include "ompl/datastructures/Grid.h"
#include <vector>

namespace ompl
{

    namespace geometric
    {

        class SBL : public base::Planner
        {
        public:

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

                maxDistance_ = 0.0;
            }

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

            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_;
            }

            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;

            typedef std::vector<Motion*> MotionSet;

            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;

                MotionSet          children;
            };

            struct TreeData
            {
                TreeData(void) : grid(0), size(0)
                {
                }

                Grid<MotionSet> grid;

                unsigned int    size;
            };

            void freeMemory(void)
            {
                freeGridMotions(tStart_.grid);
                freeGridMotions(tGoal_.grid);
            }

            void freeGridMotions(Grid<MotionSet> &grid);

            void addMotion(TreeData &tree, Motion *motion);

            Motion* selectMotion(TreeData &tree);

            void removeMotion(TreeData &tree, Motion *motion);

            bool isPathValid(TreeData &tree, Motion *motion);

            bool checkSolution(bool start, TreeData &tree, TreeData &otherTree, Motion *motion, std::vector<Motion*> &solution);

            base::ValidStateSamplerPtr                 sampler_;

            base::ProjectionEvaluatorPtr               projectionEvaluator_;

            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