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LBKPIECE1.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_LBKPIECE1_
00038 #define OMPL_GEOMETRIC_PLANNERS_KPIECE_LBKPIECE1_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/geometric/planners/kpiece/Discretization.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace geometric
00047     {
00048 
00081         class LBKPIECE1 : public base::Planner
00082         {
00083         public:
00084 
00086             LBKPIECE1(const base::SpaceInformationPtr &si) : base::Planner(si, "LBKPIECE1"),
00087                                                              dStart_(boost::bind(&LBKPIECE1::freeMotion, this, _1)),
00088                                                              dGoal_(boost::bind(&LBKPIECE1::freeMotion, this, _1))
00089             {
00090                 specs_.recognizedGoal = base::GOAL_SAMPLEABLE_REGION;
00091 
00092                 minValidPathFraction_ = 0.5;
00093                 maxDistance_ = 0.0;
00094             }
00095 
00096             virtual ~LBKPIECE1(void)
00097             {
00098             }
00099 
00102             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00103             {
00104                 projectionEvaluator_ = projectionEvaluator;
00105             }
00106 
00109             void setProjectionEvaluator(const std::string &name)
00110             {
00111                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00112             }
00113 
00115             const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const
00116             {
00117                 return projectionEvaluator_;
00118             }
00119 
00125             void setRange(double distance)
00126             {
00127                 maxDistance_ = distance;
00128             }
00129 
00131             double getRange(void) const
00132             {
00133                 return maxDistance_;
00134             }
00141             void setBorderFraction(double bp)
00142             {
00143                 dStart_.setBorderFraction(bp);
00144                 dGoal_.setBorderFraction(bp);
00145             }
00146 
00149             double getBorderFraction(void) const
00150             {
00151                 return dStart_.getBorderFraction();
00152             }
00153 
00160             void setMinValidPathFraction(double fraction)
00161             {
00162                 minValidPathFraction_ = fraction;
00163             }
00164 
00166             double getMinValidPathFraction(void) const
00167             {
00168                 return minValidPathFraction_;
00169             }
00170 
00171             virtual void setup(void);
00172 
00173             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00174             virtual void clear(void);
00175 
00176             virtual void getPlannerData(base::PlannerData &data) const;
00177 
00178         protected:
00179 
00181             class Motion
00182             {
00183             public:
00184 
00185                 Motion(void) : root(NULL), state(NULL), parent(NULL), valid(false)
00186                 {
00187                 }
00188 
00190                 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL), valid(false)
00191                 {
00192                 }
00193 
00194                 ~Motion(void)
00195                 {
00196                 }
00197 
00199                 const base::State   *root;
00200 
00202                 base::State         *state;
00203 
00205                 Motion              *parent;
00206 
00208                 bool                 valid;
00209 
00211                 std::vector<Motion*> children;
00212             };
00213 
00215             void freeMotion(Motion *motion);
00216 
00218             void removeMotion(Discretization<Motion> &disc, Motion* motion);
00219 
00225             bool isPathValid(Discretization<Motion> &disc, Motion* motion, base::State *temp);
00226 
00228             base::StateSamplerPtr              sampler_;
00229 
00231             base::ProjectionEvaluatorPtr               projectionEvaluator_;
00232 
00234             Discretization<Motion>                     dStart_;
00235 
00237             Discretization<Motion>                     dGoal_;
00238 
00244             double                                     minValidPathFraction_;
00245 
00247             double                                     maxDistance_;
00248 
00250             RNG                                        rng_;
00251         };
00252 
00253     }
00254 }
00255 
00256 
00257 #endif