KPIECE1.h

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/* Author: Ioan Sucan */

#ifndef OMPL_CONTROL_PLANNERS_KPIECE_KPIECE1_
#define OMPL_CONTROL_PLANNERS_KPIECE_KPIECE1_

#include "ompl/control/planners/PlannerIncludes.h"
#include "ompl/base/ProjectionEvaluator.h"
#include "ompl/datastructures/GridB.h"
#include <vector>

namespace ompl
{

    namespace control
    {

        class KPIECE1 : public base::Planner
        {
        public:

            KPIECE1(const SpaceInformationPtr &si) : base::Planner(si, "KPIECE1")
            {
                type_ = base::PLAN_TO_GOAL_ANY;

                siC_ = si.get();
                goalBias_ = 0.05;
                selectBorderFraction_ = 0.7;
                badScoreFactor_ = 0.3;
                goodScoreFactor_ = 0.9;
                tree_.grid.onCellUpdate(computeImportance, NULL);
            }

            virtual ~KPIECE1(void)
            {
                freeMemory();
            }

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

            virtual void clear(void);

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

            double getGoalBias(void) const
            {
                return goalBias_;
            }

            void setBorderFraction(double bp)
            {
                selectBorderFraction_ = bp;
            }

            double getBorderFraction(void) const
            {
                return selectBorderFraction_;
            }


            void setCellScoreFactor(double good, double bad)
            {
                goodScoreFactor_ = good;
                badScoreFactor_ = bad;
            }

            double getGoodCellScoreFactor(void) const
            {
                return goodScoreFactor_;
            }

            double getBadCellScoreFactor(void) const
            {
                return badScoreFactor_;
            }

            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_;
            }

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

        protected:

            class Motion
            {
            public:

                Motion(void) : state(NULL), control(NULL), steps(0), parent(NULL)
                {
                }

                Motion(const SpaceInformation *si) : state(si->allocState()), control(si->allocControl()), steps(0), parent(NULL)
                {
                }

                ~Motion(void)
                {
                }

                base::State       *state;

                Control           *control;

                unsigned int       steps;

                Motion            *parent;

            };

            struct CellData
            {
                CellData(void) : coverage(0.0), selections(1), score(1.0), iteration(0), importance(0.0)
                {
                }

                ~CellData(void)
                {
                }

                std::vector<Motion*> motions;

                double               coverage;

                unsigned int         selections;

                double               score;

                unsigned int         iteration;

                double               importance;
            };

            struct OrderCellsByImportance
            {
                bool operator()(const CellData * const a, const CellData * const b) const
                {
                    return a->importance > b->importance;
                }
            };

            typedef GridB<CellData*, OrderCellsByImportance> Grid;

            struct TreeData
            {
                TreeData(void) : grid(0), size(0), iteration(1)
                {
                }

                Grid         grid;

                unsigned int size;

                unsigned int iteration;
            };

            static void computeImportance(Grid::Cell *cell, void*)
            {
                CellData &cd = *(cell->data);
                cd.importance =  cd.score / ((cell->neighbors + 1) * cd.coverage * cd.selections);
            }

            void freeMemory(void);

            void freeGridMotions(Grid &grid);

            void freeCellData(CellData *cdata);

            void freeMotion(Motion *motion);

            unsigned int addMotion(Motion* motion, double dist);

            bool selectMotion(Motion* &smotion, Grid::Cell* &scell);

            unsigned int findNextMotion(const std::vector<Grid::Coord> &coords, unsigned int index, unsigned int count);

            ControlSamplerPtr             controlSampler_;

            TreeData                      tree_;

            const SpaceInformation       *siC_;

            base::ProjectionEvaluatorPtr  projectionEvaluator_;

            double                        goodScoreFactor_;

            double                        badScoreFactor_;


            double                        selectBorderFraction_;

            double                        goalBias_;

            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