RRT.h

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/* Author: Ioan Sucan */

#ifndef OMPL_CONTROL_PLANNERS_RRT_RRT_
#define OMPL_CONTROL_PLANNERS_RRT_RRT_

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

namespace ompl
{

    namespace control
    {

        class RRT : public base::Planner
        {
        public:

            RRT(const SpaceInformationPtr &si) : base::Planner(si, "RRT")
            {
                type_ = base::PLAN_TO_GOAL_ANY;
                siC_ = si.get();

                goalBias_ = 0.05;
            }

            virtual ~RRT(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_;
            }

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

            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), 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;
            };

            void freeMemory(void);

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

            base::StateSamplerPtr                  sampler_;

            ControlSamplerPtr                              controlSampler_;

            const SpaceInformation                        *siC_;

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

            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 09:33:20 2013