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RRT.h
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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);
00074 
00075             virtual ~RRT(void);
00076 
00077             virtual void getPlannerData(base::PlannerData &data) const;
00078 
00079             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00080 
00081             virtual void clear(void);
00082 
00092             void setGoalBias(double goalBias)
00093             {
00094                 goalBias_ = goalBias;
00095             }
00096 
00098             double getGoalBias(void) const
00099             {
00100                 return goalBias_;
00101             }
00102 
00108             void setRange(double distance)
00109             {
00110                 maxDistance_ = distance;
00111             }
00112 
00114             double getRange(void) const
00115             {
00116                 return maxDistance_;
00117             }
00118 
00120             template<template<typename T> class NN>
00121             void setNearestNeighbors(void)
00122             {
00123                 nn_.reset(new NN<Motion*>());
00124             }
00125 
00126             virtual void setup(void);
00127 
00128         protected:
00129 
00130 
00135             class Motion
00136             {
00137             public:
00138 
00139                 Motion(void) : state(NULL), parent(NULL)
00140                 {
00141                 }
00142 
00144                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
00145                 {
00146                 }
00147 
00148                 ~Motion(void)
00149                 {
00150                 }
00151 
00153                 base::State       *state;
00154 
00156                 Motion            *parent;
00157 
00158             };
00159 
00161             void freeMemory(void);
00162 
00164             double distanceFunction(const Motion* a, const Motion* b) const
00165             {
00166                 return si_->distance(a->state, b->state);
00167             }
00168 
00170             base::StateSamplerPtr                          sampler_;
00171 
00173             boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
00174 
00176             double                                         goalBias_;
00177 
00179             double                                         maxDistance_;
00180 
00182             RNG                                            rng_;
00183         };
00184 
00185     }
00186 }
00187 
00188 #endif