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RRT.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_
00038 #define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_
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 
00068         class RRT : public base::Planner
00069         {
00070         public:
00071 
00073             RRT(const base::SpaceInformationPtr &si) : base::Planner(si, "RRT")
00074             {
00075                 specs_.approximateSolutions = true;
00076 
00077                 goalBias_ = 0.05;
00078                 maxDistance_ = 0.0;
00079             }
00080 
00081             virtual ~RRT(void)
00082             {
00083                 freeMemory();
00084             }
00085 
00086             virtual void getPlannerData(base::PlannerData &data) const;
00087 
00088             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00089 
00090             virtual void clear(void);
00091 
00101             void setGoalBias(double goalBias)
00102             {
00103                 goalBias_ = goalBias;
00104             }
00105 
00107             double getGoalBias(void) const
00108             {
00109                 return goalBias_;
00110             }
00111 
00117             void setRange(double distance)
00118             {
00119                 maxDistance_ = distance;
00120             }
00121 
00123             double getRange(void) const
00124             {
00125                 return maxDistance_;
00126             }
00127 
00129             template<template<typename T> class NN>
00130             void setNearestNeighbors(void)
00131             {
00132                 nn_.reset(new NN<Motion*>());
00133             }
00134 
00135             virtual void setup(void);
00136 
00137         protected:
00138 
00139 
00144             class Motion
00145             {
00146             public:
00147 
00148                 Motion(void) : state(NULL), parent(NULL)
00149                 {
00150                 }
00151 
00153                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
00154                 {
00155                 }
00156 
00157                 ~Motion(void)
00158                 {
00159                 }
00160 
00162                 base::State       *state;
00163 
00165                 Motion            *parent;
00166 
00167             };
00168 
00170             void freeMemory(void);
00171 
00173             double distanceFunction(const Motion* a, const Motion* b) const
00174             {
00175                 return si_->distance(a->state, b->state);
00176             }
00177 
00179             base::StateSamplerPtr                          sampler_;
00180 
00182             boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
00183 
00185             double                                         goalBias_;
00186 
00188             double                                         maxDistance_;
00189 
00191             RNG                                            rng_;
00192         };
00193 
00194     }
00195 }
00196 
00197 #endif