All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator
BKPIECE1.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2008, Rice University,
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 Rice University 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_KPIECE_BKPIECE1_
00038 #define OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/geometric/planners/kpiece/Discretization.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace geometric
00047     {
00048 
00080         class BKPIECE1 : public base::Planner
00081         {
00082         public:
00083 
00085             BKPIECE1(const base::SpaceInformationPtr &si);
00086 
00087             virtual ~BKPIECE1(void);
00088 
00091             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00092             {
00093                 projectionEvaluator_ = projectionEvaluator;
00094             }
00095 
00098             void setProjectionEvaluator(const std::string &name)
00099             {
00100                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00101             }
00102 
00104             const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const
00105             {
00106                 return projectionEvaluator_;
00107             }
00108 
00114             void setRange(double distance)
00115             {
00116                 maxDistance_ = distance;
00117             }
00118 
00120             double getRange(void) const
00121             {
00122                 return maxDistance_;
00123             }
00124 
00131             void setBorderFraction(double bp)
00132             {
00133                 dStart_.setBorderFraction(bp);
00134                 dGoal_.setBorderFraction(bp);
00135             }
00136 
00139             double getBorderFraction(void) const
00140             {
00141                 return dStart_.getBorderFraction();
00142             }
00143 
00148             void setFailedExpansionCellScoreFactor(double factor)
00149             {
00150                 failedExpansionScoreFactor_ = factor;
00151             }
00152 
00155             double getFailedExpansionCellScoreFactor(void) const
00156             {
00157                 return failedExpansionScoreFactor_;
00158             }
00159 
00166             void setMinValidPathFraction(double fraction)
00167             {
00168                 minValidPathFraction_ = fraction;
00169             }
00170 
00172             double getMinValidPathFraction(void) const
00173             {
00174                 return minValidPathFraction_;
00175             }
00176 
00177             virtual void setup(void);
00178 
00179             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00180             virtual void clear(void);
00181 
00182             virtual void getPlannerData(base::PlannerData &data) const;
00183 
00184         protected:
00185 
00187             class Motion
00188             {
00189             public:
00190 
00191                 Motion(void) : root(NULL), state(NULL), parent(NULL)
00192                 {
00193                 }
00194 
00196                 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL)
00197                 {
00198                 }
00199 
00200                 ~Motion(void)
00201                 {
00202                 }
00203 
00205                 const base::State   *root;
00206 
00208                 base::State         *state;
00209 
00211                 Motion              *parent;
00212             };
00213 
00215             void freeMotion(Motion *motion);
00216 
00218             base::ValidStateSamplerPtr                 sampler_;
00219 
00221             base::ProjectionEvaluatorPtr               projectionEvaluator_;
00222 
00224             Discretization<Motion>                     dStart_;
00225 
00227             Discretization<Motion>                     dGoal_;
00228 
00232             double                                     failedExpansionScoreFactor_;
00233 
00239             double                                     minValidPathFraction_;
00240 
00242             double                                     maxDistance_;
00243 
00245             RNG                                        rng_;
00246         };
00247 
00248     }
00249 }
00250 
00251 
00252 #endif
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends