pSBL.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PLANNERS_SBL_pSBL_
#define OMPL_GEOMETRIC_PLANNERS_SBL_pSBL_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/base/ProjectionEvaluator.h"
#include "ompl/base/StateSamplerArray.h"
#include "ompl/datastructures/Grid.h"
#include <boost/thread/mutex.hpp>
#include <vector>

namespace ompl
{

    namespace geometric
    {

        class pSBL : public base::Planner
        {
        public:

            pSBL(const base::SpaceInformationPtr &si) : base::Planner(si, "pSBL"),
                                                        samplerArray_(si)
            {
                type_ = base::PLAN_TO_GOAL_STATE;
                maxDistance_ = 0.0;
                setThreadCount(2);
            }

            virtual ~pSBL(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_;
            }

            void setThreadCount(unsigned int nthreads);

            unsigned int getThreadCount(void) const
            {
                return threadCount_;
            }

            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;
                boost::mutex       lock;
            };

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

                Grid<MotionSet> grid;
                unsigned int    size;
                boost::mutex    lock;
            };

            struct SolutionInfo
            {
                std::vector<Motion*> solution;
                bool                 found;
                boost::mutex         lock;
            };

            struct PendingRemoveMotion
            {
                TreeData *tree;
                Motion   *motion;
            };

            struct MotionsToBeRemoved
            {
                std::vector<PendingRemoveMotion> motions;
                boost::mutex                     lock;
            };

            void threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol);

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

            void freeGridMotions(Grid<MotionSet> &grid);

            void addMotion(TreeData &tree, Motion *motion);
            Motion* selectMotion(RNG &rng, TreeData &tree);
            void removeMotion(TreeData &tree, Motion *motion, std::map<Motion*, bool> &seen);
            bool isPathValid(TreeData &tree, Motion *motion);
            bool checkSolution(RNG &rng, bool start, TreeData &tree, TreeData &otherTree, Motion *motion, std::vector<Motion*> &solution);


            base::StateSamplerArray<base::ValidStateSampler> samplerArray_;
            base::ProjectionEvaluatorPtr                     projectionEvaluator_;

            TreeData                                         tStart_;
            TreeData                                         tGoal_;

            MotionsToBeRemoved                               removeList_;
            boost::mutex                                     loopLock_;
            boost::mutex                                     loopLockCounter_;
            unsigned int                                     loopCounter_;

            double                                           maxDistance_;

            unsigned int                                     threadCount_;
        };

    }
}

#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