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pRRT.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_
00038 #define OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/base/StateSamplerArray.h"
00042 #include "ompl/datastructures/NearestNeighbors.h"
00043 #include <boost/thread/mutex.hpp>
00044 
00045 namespace ompl
00046 {
00047 
00048     namespace geometric
00049     {
00050 
00069         class pRRT : public base::Planner
00070         {
00071         public:
00072 
00073             pRRT(const base::SpaceInformationPtr &si);
00074 
00075             virtual ~pRRT(void);
00076 
00077             virtual void getPlannerData(base::PlannerData &data) const;
00078 
00079             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00080 
00081             virtual void clear(void);
00082 
00092             void setGoalBias(double goalBias)
00093             {
00094                 goalBias_ = goalBias;
00095             }
00096 
00098             double getGoalBias(void) const
00099             {
00100                 return goalBias_;
00101             }
00102 
00108             void setRange(double distance)
00109             {
00110                 maxDistance_ = distance;
00111             }
00112 
00114             double getRange(void) const
00115             {
00116                 return maxDistance_;
00117             }
00118 
00120             void setThreadCount(unsigned int nthreads);
00121 
00122             unsigned int getThreadCount(void) const
00123             {
00124                 return threadCount_;
00125             }
00126 
00128             template<template<typename T> class NN>
00129             void setNearestNeighbors(void)
00130             {
00131                 nn_.reset(new NN<Motion*>());
00132             }
00133 
00134             virtual void setup(void);
00135 
00136         protected:
00137 
00138             class Motion
00139             {
00140             public:
00141 
00142                 Motion(void) : state(NULL), parent(NULL)
00143                 {
00144                 }
00145 
00146                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
00147                 {
00148                 }
00149 
00150                 ~Motion(void)
00151                 {
00152                 }
00153 
00154                 base::State       *state;
00155                 Motion            *parent;
00156 
00157             };
00158 
00159             struct SolutionInfo
00160             {
00161                 Motion      *solution;
00162                 Motion      *approxsol;
00163                 double       approxdif;
00164                 boost::mutex lock;
00165             };
00166 
00167             void threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol);
00168             void freeMemory(void);
00169 
00170             double distanceFunction(const Motion* a, const Motion* b) const
00171             {
00172                 return si_->distance(a->state, b->state);
00173             }
00174 
00175             base::StateSamplerArray<base::StateSampler>         samplerArray_;
00176             boost::shared_ptr< NearestNeighbors<Motion*> >      nn_;
00177             boost::mutex                                        nnLock_;
00178 
00179             unsigned int                                        threadCount_;
00180 
00181             double                                              goalBias_;
00182             double                                              maxDistance_;
00183         };
00184 
00185     }
00186 }
00187 
00188 #endif
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