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ConnectionStrategy.h
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00034 
00035 /* Author: James D. Marble */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_PRM_CONNECTION_STRATEGY_
00038 #define OMPL_GEOMETRIC_PLANNERS_PRM_CONNECTION_STRATEGY_
00039 
00040 #include "ompl/datastructures/NearestNeighbors.h"
00041 #include <boost/function.hpp>
00042 #include <boost/shared_ptr.hpp>
00043 #include <boost/math/constants/constants.hpp>
00044 #include <vector>
00045 
00046 namespace ompl
00047 {
00048 
00049     namespace geometric
00050     {
00051 
00055         template <class Milestone>
00056         class KStrategy
00057         {
00058         public:
00059 
00062             KStrategy(const unsigned int k,
00063                       const boost::shared_ptr< NearestNeighbors<Milestone> > &nn) :
00064                 k_(k), nn_(nn)
00065             {
00066                 neighbors_.reserve(k_);
00067             }
00068 
00069             virtual ~KStrategy(void)
00070             {
00071             }
00072 
00074             void setNearestNeighbors(const boost::shared_ptr< NearestNeighbors<Milestone> > &nn)
00075             {
00076                 nn_ = nn;
00077             }
00078 
00082             std::vector<Milestone>& operator()(const Milestone& m)
00083             {
00084                 nn_->nearestK(m, k_, neighbors_);
00085                 return neighbors_;
00086             }
00087 
00088         protected:
00089 
00091             unsigned int                                     k_;
00092 
00094             boost::shared_ptr< NearestNeighbors<Milestone> > nn_;
00095 
00097             std::vector<Milestone>                           neighbors_;
00098         };
00099 
00125         template <class Milestone>
00126         class KStarStrategy : public KStrategy<Milestone>
00127         {
00128         public:
00129 
00139             KStarStrategy(const boost::function0<unsigned int>& n,
00140                           const boost::shared_ptr< NearestNeighbors<Milestone> > &nn,
00141                           const unsigned int d = 1) :
00142                 KStrategy<Milestone>(n(), nn), n_(n), kPRMConstant_(1.0 + 1.0/(double)d)
00143             {
00144             }
00145 
00146             std::vector<Milestone>& operator()(const Milestone& m)
00147             {
00148                 KStrategy<Milestone>::k_ = static_cast<unsigned int>(
00149                     ceil(kPRMConstant_ * boost::math::constants::euler<double>() * log((double)n_())));
00150                 return static_cast<KStrategy<Milestone>&>(*this)(m);
00151             }
00152 
00153         protected:
00154 
00156             const boost::function0<unsigned int>  n_;
00157             const double                          kPRMConstant_;
00158 
00159         };
00160 
00161     }
00162 
00163 }
00164 
00165 #endif