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RRT.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_RRT_RRT_
00038 #define OMPL_CONTROL_PLANNERS_RRT_RRT_
00039 
00040 #include "ompl/control/planners/PlannerIncludes.h"
00041 #include "ompl/datastructures/NearestNeighbors.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace control
00047     {
00048 
00069         class RRT : public base::Planner
00070         {
00071         public:
00072 
00074             RRT(const SpaceInformationPtr &si);
00075 
00076             virtual ~RRT(void);
00077 
00079             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00080 
00084             virtual void clear(void);
00085 
00093             void setGoalBias(double goalBias)
00094             {
00095                 goalBias_ = goalBias;
00096             }
00097 
00099             double getGoalBias(void) const
00100             {
00101                 return goalBias_;
00102             }
00103 
00105             bool getIntermediateStates(void) const
00106             {
00107                 return addIntermediateStates_;
00108             }
00109 
00111             void setIntermediateStates(bool addIntermediateStates)
00112             {
00113                 addIntermediateStates_ = addIntermediateStates;
00114             }
00115 
00116             virtual void getPlannerData(base::PlannerData &data) const;
00117 
00119             template<template<typename T> class NN>
00120             void setNearestNeighbors(void)
00121             {
00122                 nn_.reset(new NN<Motion*>());
00123             }
00124 
00125             virtual void setup(void);
00126 
00127         protected:
00128 
00129 
00134             class Motion
00135             {
00136             public:
00137 
00138                 Motion(void) : state(NULL), control(NULL), steps(0), parent(NULL)
00139                 {
00140                 }
00141 
00143                 Motion(const SpaceInformation *si) : state(si->allocState()), control(si->allocControl()), steps(0), parent(NULL)
00144                 {
00145                 }
00146 
00147                 ~Motion(void)
00148                 {
00149                 }
00150 
00152                 base::State       *state;
00153 
00155                 Control           *control;
00156 
00158                 unsigned int       steps;
00159 
00161                 Motion            *parent;
00162             };
00163 
00165             void freeMemory(void);
00166 
00168             double distanceFunction(const Motion* a, const Motion* b) const
00169             {
00170                 return si_->distance(a->state, b->state);
00171             }
00172 
00174             base::StateSamplerPtr                          sampler_;
00175 
00177             DirectedControlSamplerPtr                      controlSampler_;
00178 
00180             const SpaceInformation                        *siC_;
00181 
00183             boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
00184 
00186             double                                         goalBias_;
00187 
00189             bool                                           addIntermediateStates_;
00190 
00192             RNG                                            rng_;
00193         };
00194 
00195     }
00196 }
00197 
00198 #endif