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EST.h
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00034 
00035 /* Author: Ryan Luna */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_EST_EST_
00038 #define OMPL_CONTROL_PLANNERS_EST_EST_
00039 
00040 #include "ompl/datastructures/Grid.h"
00041 #include "ompl/control/planners/PlannerIncludes.h"
00042 #include "ompl/base/ProjectionEvaluator.h"
00043 #include "ompl/datastructures/PDF.h"
00044 #include <boost/unordered_map.hpp>
00045 #include <vector>
00046 
00047 namespace ompl
00048 {
00049 
00050     namespace control
00051     {
00052 
00077         class EST : public base::Planner
00078         {
00079         public:
00080 
00082             EST(const SpaceInformationPtr &si);
00083 
00084             virtual ~EST(void);
00085 
00086             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00087 
00088             virtual void clear(void);
00089 
00097             void setGoalBias(double goalBias)
00098             {
00099                 goalBias_ = goalBias;
00100             }
00101 
00103             double getGoalBias(void) const
00104             {
00105                 return goalBias_;
00106             }
00107 
00113             void setRange(double distance)
00114             {
00115                 maxDistance_ = distance;
00116             }
00117 
00119             double getRange(void) const
00120             {
00121                 return maxDistance_;
00122             }
00123 
00126             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00127             {
00128                 projectionEvaluator_ = projectionEvaluator;
00129             }
00130 
00133             void setProjectionEvaluator(const std::string &name)
00134             {
00135                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00136             }
00137 
00139             const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const
00140             {
00141                 return projectionEvaluator_;
00142             }
00143 
00144             virtual void setup(void);
00145 
00146             virtual void getPlannerData(base::PlannerData &data) const;
00147 
00148         protected:
00149 
00154             class Motion
00155             {
00156             public:
00157 
00158                 Motion(void) : state(NULL), control(NULL), steps(0), parent(NULL)
00159                 {
00160                 }
00161 
00163                 Motion(const SpaceInformation *si) : state(si->allocState()), control(si->allocControl()), steps(0), parent(NULL)
00164                 {
00165                 }
00166 
00167                 ~Motion(void)
00168                 {
00169                 }
00170 
00172                 base::State       *state;
00173 
00175                 Control           *control;
00176 
00178                 unsigned int       steps;
00179 
00181                 Motion            *parent;
00182             };
00183 
00184             struct MotionInfo;
00185 
00187             typedef Grid<MotionInfo>::Cell GridCell;
00188 
00190             typedef PDF<GridCell*>        CellPDF;
00191 
00193             struct MotionInfo
00194             {
00195                 Motion* operator[](unsigned int i)
00196                 {
00197                     return motions_[i];
00198                 }
00199                 const Motion* operator[](unsigned int i) const
00200                 {
00201                     return motions_[i];
00202                 }
00203                 void push_back(Motion* m)
00204                 {
00205                     motions_.push_back(m);
00206                 }
00207                 unsigned int size(void) const
00208                 {
00209                     return motions_.size();
00210                 }
00211                 bool empty(void) const
00212                 {
00213                     return motions_.empty();
00214                 }
00215                 std::vector<Motion*> motions_;
00216                 CellPDF::Element*    elem_;
00217             };
00218 
00220             struct TreeData
00221             {
00222                 TreeData(void) : grid(0), size(0)
00223                 {
00224                 }
00225 
00227                 Grid<MotionInfo> grid;
00228 
00230                 unsigned int    size;
00231             };
00232 
00234             void freeMemory(void);
00235 
00237             void addMotion(Motion *motion);
00238 
00240             Motion* selectMotion(void);
00241 
00243             base::ValidStateSamplerPtr   sampler_;
00244 
00246             DirectedControlSamplerPtr    controlSampler_;
00247 
00249             const SpaceInformation       *siC_;
00250 
00252             TreeData                     tree_;
00253 
00255             base::ProjectionEvaluatorPtr projectionEvaluator_;
00256 
00258             double                       goalBias_;
00259 
00261             double                       maxDistance_;
00262 
00264             RNG                          rng_;
00265 
00267             CellPDF                      pdf_;
00268         };
00269 
00270     }
00271 }
00272 
00273 #endif
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