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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) : base::Planner(si, "pRRT"),
00074                                                         samplerArray_(si)
00075             {
00076                 specs_.approximateSolutions = true;
00077                 specs_.multithreaded = true;
00078 
00079                 setThreadCount(2);
00080                 goalBias_ = 0.05;
00081                 maxDistance_ = 0.0;
00082             }
00083 
00084             virtual ~pRRT(void)
00085             {
00086                 freeMemory();
00087             }
00088 
00089             virtual void getPlannerData(base::PlannerData &data) const;
00090 
00091             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00092 
00093             virtual void clear(void);
00094 
00104             void setGoalBias(double goalBias)
00105             {
00106                 goalBias_ = goalBias;
00107             }
00108 
00110             double getGoalBias(void) const
00111             {
00112                 return goalBias_;
00113             }
00114 
00120             void setRange(double distance)
00121             {
00122                 maxDistance_ = distance;
00123             }
00124 
00126             double getRange(void) const
00127             {
00128                 return maxDistance_;
00129             }
00130 
00132             void setThreadCount(unsigned int nthreads);
00133 
00134             unsigned int getThreadCount(void) const
00135             {
00136                 return threadCount_;
00137             }
00138 
00140             template<template<typename T> class NN>
00141             void setNearestNeighbors(void)
00142             {
00143                 nn_.reset(new NN<Motion*>());
00144             }
00145 
00146             virtual void setup(void);
00147 
00148         protected:
00149 
00150             class Motion
00151             {
00152             public:
00153 
00154                 Motion(void) : state(NULL), parent(NULL)
00155                 {
00156                 }
00157 
00158                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
00159                 {
00160                 }
00161 
00162                 ~Motion(void)
00163                 {
00164                 }
00165 
00166                 base::State       *state;
00167                 Motion            *parent;
00168 
00169             };
00170 
00171             struct SolutionInfo
00172             {
00173                 Motion      *solution;
00174                 Motion      *approxsol;
00175                 double       approxdif;
00176                 boost::mutex lock;
00177             };
00178 
00179             void threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol);
00180             void freeMemory(void);
00181 
00182             double distanceFunction(const Motion* a, const Motion* b) const
00183             {
00184                 return si_->distance(a->state, b->state);
00185             }
00186 
00187             base::StateSamplerArray<base::StateSampler>         samplerArray_;
00188             boost::shared_ptr< NearestNeighbors<Motion*> >      nn_;
00189             boost::mutex                                        nnLock_;
00190 
00191             unsigned int                                        threadCount_;
00192 
00193             double                                              goalBias_;
00194             double                                              maxDistance_;
00195         };
00196 
00197     }
00198 }
00199 
00200 #endif