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RRT.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_RRT_RRT_
00038 #define OMPL_CONTROL_PLANNERS_RRT_RRT_
00039 
00040 #include "ompl/control/planners/PlannerIncludes.h"
00041 #include "ompl/datastructures/NearestNeighbors.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace control
00047     {
00048 
00069         class RRT : public base::Planner
00070         {
00071         public:
00072 
00074             RRT(const SpaceInformationPtr &si) : base::Planner(si, "RRT")
00075             {
00076                 specs_.approximateSolutions = true;
00077                 siC_ = si.get();
00078 
00079                 goalBias_ = 0.05;
00080             }
00081 
00082             virtual ~RRT(void)
00083             {
00084                 freeMemory();
00085             }
00086 
00088             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00089 
00093             virtual void clear(void);
00094 
00102             void setGoalBias(double goalBias)
00103             {
00104                 goalBias_ = goalBias;
00105             }
00106 
00108             double getGoalBias(void) const
00109             {
00110                 return goalBias_;
00111             }
00112 
00113             virtual void getPlannerData(base::PlannerData &data) const;
00114 
00116             template<template<typename T> class NN>
00117             void setNearestNeighbors(void)
00118             {
00119                 nn_.reset(new NN<Motion*>());
00120             }
00121 
00122             virtual void setup(void);
00123 
00124         protected:
00125 
00126 
00131             class Motion
00132             {
00133             public:
00134 
00135                 Motion(void) : state(NULL), control(NULL), steps(0), parent(NULL)
00136                 {
00137                 }
00138 
00140                 Motion(const SpaceInformation *si) : state(si->allocState()), control(si->allocControl()), steps(0), parent(NULL)
00141                 {
00142                 }
00143 
00144                 ~Motion(void)
00145                 {
00146                 }
00147 
00149                 base::State       *state;
00150 
00152                 Control           *control;
00153 
00155                 unsigned int       steps;
00156 
00158                 Motion            *parent;
00159             };
00160 
00162             void freeMemory(void);
00163 
00165             double distanceFunction(const Motion* a, const Motion* b) const
00166             {
00167                 return si_->distance(a->state, b->state);
00168             }
00169 
00171             base::StateSamplerPtr                          sampler_;
00172 
00174             ControlSamplerPtr                              controlSampler_;
00175 
00177             const SpaceInformation                        *siC_;
00178 
00180             boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
00181 
00183             double                                         goalBias_;
00184 
00186             RNG                                            rng_;
00187         };
00188 
00189     }
00190 }
00191 
00192 #endif