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SBL.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_SBL_SBL_
00038 #define OMPL_GEOMETRIC_PLANNERS_SBL_SBL_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/base/ProjectionEvaluator.h"
00042 #include "ompl/datastructures/Grid.h"
00043 #include <vector>
00044 
00045 namespace ompl
00046 {
00047 
00048     namespace geometric
00049     {
00050 
00086         class SBL : public base::Planner
00087         {
00088         public:
00089 
00091             SBL(const base::SpaceInformationPtr &si) : base::Planner(si, "SBL")
00092             {
00093                 specs_.recognizedGoal = base::GOAL_SAMPLEABLE_REGION;
00094                 maxDistance_ = 0.0;
00095             }
00096 
00097             virtual ~SBL(void)
00098             {
00099                 freeMemory();
00100             }
00101 
00104             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00105             {
00106                 projectionEvaluator_ = projectionEvaluator;
00107             }
00108 
00111             void setProjectionEvaluator(const std::string &name)
00112             {
00113                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00114             }
00115 
00117             const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const
00118             {
00119                 return projectionEvaluator_;
00120             }
00121 
00127             void setRange(double distance)
00128             {
00129                 maxDistance_ = distance;
00130             }
00131 
00133             double getRange(void) const
00134             {
00135                 return maxDistance_;
00136             }
00137 
00138             virtual void setup(void);
00139 
00140             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00141 
00142             virtual void clear(void);
00143 
00144             virtual void getPlannerData(base::PlannerData &data) const;
00145 
00146         protected:
00147 
00148             class Motion;
00149 
00151             typedef std::vector<Motion*> MotionSet;
00152 
00154             class Motion
00155             {
00156             public:
00157 
00159                 Motion(void) : root(NULL), state(NULL), parent(NULL), valid(false)
00160                 {
00161                 }
00162 
00164                 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL), valid(false)
00165                 {
00166                 }
00167 
00168                 ~Motion(void)
00169                 {
00170                 }
00171 
00173                 const base::State *root;
00174 
00176                 base::State       *state;
00177 
00179                 Motion            *parent;
00180 
00182                 bool               valid;
00183 
00185                 MotionSet          children;
00186             };
00187 
00189             struct TreeData
00190             {
00191                 TreeData(void) : grid(0), size(0)
00192                 {
00193                 }
00194 
00196                 Grid<MotionSet> grid;
00197 
00199                 unsigned int    size;
00200             };
00201 
00203             void freeMemory(void)
00204             {
00205                 freeGridMotions(tStart_.grid);
00206                 freeGridMotions(tGoal_.grid);
00207             }
00208 
00210             void freeGridMotions(Grid<MotionSet> &grid);
00211 
00213             void addMotion(TreeData &tree, Motion *motion);
00214 
00216             Motion* selectMotion(TreeData &tree);
00217 
00219             void removeMotion(TreeData &tree, Motion *motion);
00220 
00226             bool isPathValid(TreeData &tree, Motion *motion);
00227 
00229             bool checkSolution(bool start, TreeData &tree, TreeData &otherTree, Motion *motion, std::vector<Motion*> &solution);
00230 
00232             base::ValidStateSamplerPtr                 sampler_;
00233 
00235             base::ProjectionEvaluatorPtr               projectionEvaluator_;
00236 
00238             TreeData                                   tStart_;
00239 
00241             TreeData                                   tGoal_;
00242 
00244             double                                     maxDistance_;
00245 
00247             RNG                                        rng_;
00248         };
00249 
00250     }
00251 }
00252 
00253 #endif