00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_ 00038 #define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_ 00039 00040 #include "ompl/geometric/planners/PlannerIncludes.h" 00041 #include "ompl/datastructures/NearestNeighbors.h" 00042 00043 namespace ompl 00044 { 00045 00046 namespace geometric 00047 { 00048 00068 class RRT : public base::Planner 00069 { 00070 public: 00071 00073 RRT(const base::SpaceInformationPtr &si) : base::Planner(si, "RRT") 00074 { 00075 type_ = base::PLAN_TO_GOAL_ANY; 00076 00077 goalBias_ = 0.05; 00078 maxDistance_ = 0.0; 00079 } 00080 00081 virtual ~RRT(void) 00082 { 00083 freeMemory(); 00084 } 00085 00086 virtual void getPlannerData(base::PlannerData &data) const; 00087 00088 virtual bool solve(const base::PlannerTerminationCondition &ptc); 00089 00090 virtual void clear(void); 00091 00101 void setGoalBias(double goalBias) 00102 { 00103 goalBias_ = goalBias; 00104 } 00105 00107 double getGoalBias(void) const 00108 { 00109 return goalBias_; 00110 } 00111 00117 void setRange(double distance) 00118 { 00119 maxDistance_ = distance; 00120 } 00121 00123 double getRange(void) const 00124 { 00125 return maxDistance_; 00126 } 00127 00129 template<template<typename T> class NN> 00130 void setNearestNeighbors(void) 00131 { 00132 nn_.reset(new NN<Motion*>()); 00133 } 00134 00135 virtual void setup(void); 00136 00137 protected: 00138 00139 00144 class Motion 00145 { 00146 public: 00147 00148 Motion(void) : state(NULL), parent(NULL) 00149 { 00150 } 00151 00153 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL) 00154 { 00155 } 00156 00157 ~Motion(void) 00158 { 00159 } 00160 00162 base::State *state; 00163 00165 Motion *parent; 00166 00167 }; 00168 00170 void freeMemory(void); 00171 00173 double distanceFunction(const Motion* a, const Motion* b) const 00174 { 00175 return si_->distance(a->state, b->state); 00176 } 00177 00179 base::StateSamplerPtr sampler_; 00180 00182 boost::shared_ptr< NearestNeighbors<Motion*> > nn_; 00183 00185 double goalBias_; 00186 00188 double maxDistance_; 00189 00191 RNG rng_; 00192 }; 00193 00194 } 00195 } 00196 00197 #endif