KPIECE1.h

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/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_KPIECE1_
#define OMPL_GEOMETRIC_PLANNERS_KPIECE_KPIECE1_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/geometric/planners/kpiece/Discretization.h"

namespace ompl
{

    namespace geometric
    {


        class KPIECE1 : public base::Planner
        {
        public:

            KPIECE1(const base::SpaceInformationPtr &si) : base::Planner(si, "KPIECE1"),
                                                           disc_(boost::bind(&KPIECE1::freeMotion, this, _1))
            {
                type_ = base::PLAN_TO_GOAL_ANY;

                goalBias_ = 0.05;
                badScoreFactor_ = 0.5;
                goodScoreFactor_ = 0.9;
                minValidPathFraction_ = 0.2;
                maxDistance_ = 0.0;
            }

            virtual ~KPIECE1(void)
            {
            }

            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_;
            }

            void setBorderFraction(double bp)
            {
                disc_.setBorderFraction(bp);
            }

            double getBorderFraction(void) const
            {
                return disc_.getBorderFraction();
            }

            void setMinValidPathFraction(double fraction)
            {
                minValidPathFraction_ = fraction;
            }

            double getMinValidPathFraction(void) const
            {
                return minValidPathFraction_;
            }

            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), parent(NULL)
                {
                }

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

                ~Motion(void)
                {
                }

                base::State       *state;

                Motion            *parent;
            };

            void freeMotion(Motion *motion);

            base::StateSamplerPtr                      sampler_;

            Discretization<Motion>                     disc_;

            base::ProjectionEvaluatorPtr               projectionEvaluator_;

            double                                     goodScoreFactor_;

            double                                     badScoreFactor_;

            double                                     goalBias_;

            double                                     minValidPathFraction_;

            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