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RRT.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_
38 #define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/datastructures/NearestNeighbors.h"
42 
43 namespace ompl
44 {
45 
46  namespace geometric
47  {
48 
65  class RRT : public base::Planner
66  {
67  public:
68 
70  RRT(const base::SpaceInformationPtr &si);
71 
72  virtual ~RRT(void);
73 
74  virtual void getPlannerData(base::PlannerData &data) const;
75 
77 
78  virtual void clear(void);
79 
89  void setGoalBias(double goalBias)
90  {
91  goalBias_ = goalBias;
92  }
93 
95  double getGoalBias(void) const
96  {
97  return goalBias_;
98  }
99 
105  void setRange(double distance)
106  {
107  maxDistance_ = distance;
108  }
109 
111  double getRange(void) const
112  {
113  return maxDistance_;
114  }
115 
117  template<template<typename T> class NN>
119  {
120  nn_.reset(new NN<Motion*>());
121  }
122 
123  virtual void setup(void);
124 
125  protected:
126 
127 
132  class Motion
133  {
134  public:
135 
136  Motion(void) : state(NULL), parent(NULL)
137  {
138  }
139 
141  Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
142  {
143  }
144 
145  ~Motion(void)
146  {
147  }
148 
151 
154 
155  };
156 
158  void freeMemory(void);
159 
161  double distanceFunction(const Motion* a, const Motion* b) const
162  {
163  return si_->distance(a->state, b->state);
164  }
165 
168 
170  boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
171 
173  double goalBias_;
174 
176  double maxDistance_;
177 
180 
183  };
184 
185  }
186 }
187 
188 #endif