All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator
EST.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2008, Willow Garage, Inc.
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 Willow Garage 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_EST_EST_
00038 #define OMPL_GEOMETRIC_PLANNERS_EST_EST_
00039 
00040 #include "ompl/datastructures/Grid.h"
00041 #include "ompl/geometric/planners/PlannerIncludes.h"
00042 #include "ompl/base/ProjectionEvaluator.h"
00043 #include "ompl/datastructures/PDF.h"
00044 #include <vector>
00045 
00046 namespace ompl
00047 {
00048 
00049     namespace geometric
00050     {
00051 
00076         class EST : public base::Planner
00077         {
00078         public:
00079 
00081             EST(const base::SpaceInformationPtr &si);
00082 
00083             virtual ~EST(void);
00084 
00085             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00086 
00087             virtual void clear(void);
00088 
00096             void setGoalBias(double goalBias)
00097             {
00098                 goalBias_ = goalBias;
00099             }
00100 
00102             double getGoalBias(void) const
00103             {
00104                 return goalBias_;
00105             }
00106 
00112             void setRange(double distance)
00113             {
00114                 maxDistance_ = distance;
00115             }
00116 
00118             double getRange(void) const
00119             {
00120                 return maxDistance_;
00121             }
00122 
00125             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00126             {
00127                 projectionEvaluator_ = projectionEvaluator;
00128             }
00129 
00132             void setProjectionEvaluator(const std::string &name)
00133             {
00134                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00135             }
00136 
00138             const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const
00139             {
00140                 return projectionEvaluator_;
00141             }
00142 
00143             virtual void setup(void);
00144 
00145             virtual void getPlannerData(base::PlannerData &data) const;
00146 
00147         protected:
00148 
00150             class Motion
00151             {
00152             public:
00153 
00154                 Motion(void) : state(NULL), parent(NULL)
00155                 {
00156                 }
00157 
00159                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
00160                 {
00161                 }
00162 
00163                 ~Motion(void)
00164                 {
00165                 }
00166 
00168                 base::State       *state;
00169 
00171                 Motion            *parent;
00172             };
00173 
00174             struct MotionInfo;
00175 
00177             typedef Grid<MotionInfo>::Cell GridCell;
00178 
00180             typedef PDF<GridCell*>        CellPDF;
00181 
00183             struct MotionInfo
00184             {
00185                 Motion* operator[](unsigned int i)
00186                 {
00187                     return motions_[i];
00188                 }
00189                 const Motion* operator[](unsigned int i) const
00190                 {
00191                     return motions_[i];
00192                 }
00193                 void push_back(Motion* m)
00194                 {
00195                     motions_.push_back(m);
00196                 }
00197                 unsigned int size(void) const
00198                 {
00199                     return motions_.size();
00200                 }
00201                 bool empty(void) const
00202                 {
00203                     return motions_.empty();
00204                 }
00205                 std::vector<Motion*> motions_;
00206                 CellPDF::Element*    elem_;
00207             };
00208 
00209 
00211             struct TreeData
00212             {
00213                 TreeData(void) : grid(0), size(0)
00214                 {
00215                 }
00216 
00218                 Grid<MotionInfo> grid;
00219 
00221                 unsigned int    size;
00222             };
00223 
00225             void freeMemory(void);
00226 
00228             void addMotion(Motion *motion);
00229 
00231             Motion* selectMotion(void);
00232 
00234             base::ValidStateSamplerPtr   sampler_;
00235 
00237             TreeData                     tree_;
00238 
00240             base::ProjectionEvaluatorPtr projectionEvaluator_;
00241 
00243             double                       goalBias_;
00244 
00246             double                       maxDistance_;
00247 
00249             RNG                          rng_;
00250 
00252             CellPDF                      pdf_;
00253         };
00254 
00255     }
00256 }
00257 
00258 #endif