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RRTConnect.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
00038 #define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/datastructures/NearestNeighbors.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace geometric
00047     {
00048 
00063         class RRTConnect : public base::Planner
00064         {
00065         public:
00066 
00068             RRTConnect(const base::SpaceInformationPtr &si) : base::Planner(si, "RRTConnect")
00069             {
00070                 specs_.recognizedGoal = base::GOAL_SAMPLEABLE_REGION;
00071                 maxDistance_ = 0.0;
00072             }
00073 
00074             virtual ~RRTConnect(void)
00075             {
00076                 freeMemory();
00077             }
00078 
00079             virtual void getPlannerData(base::PlannerData &data) const;
00080 
00081             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00082 
00083             virtual void clear(void);
00084 
00090             void setRange(double distance)
00091             {
00092                 maxDistance_ = distance;
00093             }
00094 
00096             double getRange(void) const
00097             {
00098                 return maxDistance_;
00099             }
00100 
00102             template<template<typename T> class NN>
00103             void setNearestNeighbors(void)
00104             {
00105                 tStart_.reset(new NN<Motion*>());
00106                 tGoal_.reset(new NN<Motion*>());
00107             }
00108 
00109             virtual void setup(void);
00110 
00111         protected:
00112 
00114             class Motion
00115             {
00116             public:
00117 
00118                 Motion(void) : root(NULL), state(NULL), parent(NULL)
00119                 {
00120                     parent = NULL;
00121                     state  = NULL;
00122                 }
00123 
00124                 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL)
00125                 {
00126                 }
00127 
00128                 ~Motion(void)
00129                 {
00130                 }
00131 
00132                 const base::State *root;
00133                 base::State       *state;
00134                 Motion            *parent;
00135 
00136             };
00137 
00139             typedef boost::shared_ptr< NearestNeighbors<Motion*> > TreeData;
00140 
00142             struct TreeGrowingInfo
00143             {
00144                 base::State         *xstate;
00145                 Motion              *xmotion;
00146             };
00147 
00149             enum GrowState
00150                 {
00152                     TRAPPED,
00154                     ADVANCED,
00156                     REACHED
00157                 };
00158 
00160             void freeMemory(void);
00161 
00163             double distanceFunction(const Motion* a, const Motion* b) const
00164             {
00165                 return si_->distance(a->state, b->state);
00166             }
00167 
00169             GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion);
00170 
00172             base::StateSamplerPtr         sampler_;
00173 
00175             TreeData                      tStart_;
00176 
00178             TreeData                      tGoal_;
00179 
00181             double                        maxDistance_;
00182 
00184             RNG                           rng_;
00185         };
00186 
00187     }
00188 }
00189 
00190 #endif