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KPIECE1.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_KPIECE1_
00038 #define OMPL_GEOMETRIC_PLANNERS_KPIECE_KPIECE1_
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 
00049 
00076         class KPIECE1 : public base::Planner
00077         {
00078         public:
00079 
00081             KPIECE1(const base::SpaceInformationPtr &si) : base::Planner(si, "KPIECE1"),
00082                                                            disc_(boost::bind(&KPIECE1::freeMotion, this, _1))
00083             {
00084                 specs_.approximateSolutions = true;
00085 
00086                 goalBias_ = 0.05;
00087                 badScoreFactor_ = 0.5;
00088                 goodScoreFactor_ = 0.9;
00089                 minValidPathFraction_ = 0.2;
00090                 maxDistance_ = 0.0;
00091             }
00092 
00093             virtual ~KPIECE1(void)
00094             {
00095             }
00096 
00097             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00098 
00099             virtual void clear(void);
00100 
00110             void setGoalBias(double goalBias)
00111             {
00112                 goalBias_ = goalBias;
00113             }
00114 
00116             double getGoalBias(void) const
00117             {
00118                 return goalBias_;
00119             }
00120 
00126             void setRange(double distance)
00127             {
00128                 maxDistance_ = distance;
00129             }
00130 
00132             double getRange(void) const
00133             {
00134                 return maxDistance_;
00135             }
00136 
00143             void setBorderFraction(double bp)
00144             {
00145                 disc_.setBorderFraction(bp);
00146             }
00147 
00150             double getBorderFraction(void) const
00151             {
00152                 return disc_.getBorderFraction();
00153             }
00154 
00161             void setMinValidPathFraction(double fraction)
00162             {
00163                 minValidPathFraction_ = fraction;
00164             }
00165 
00167             double getMinValidPathFraction(void) const
00168             {
00169                 return minValidPathFraction_;
00170             }
00171 
00178             void setCellScoreFactor(double good, double bad)
00179             {
00180                 goodScoreFactor_ = good;
00181                 badScoreFactor_ = bad;
00182             }
00183 
00186             double getGoodCellScoreFactor(void) const
00187             {
00188                 return goodScoreFactor_;
00189             }
00190 
00193             double getBadCellScoreFactor(void) const
00194             {
00195                 return badScoreFactor_;
00196             }
00197 
00200             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00201             {
00202                 projectionEvaluator_ = projectionEvaluator;
00203             }
00204 
00207             void setProjectionEvaluator(const std::string &name)
00208             {
00209                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00210             }
00211 
00213             const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const
00214             {
00215                 return projectionEvaluator_;
00216             }
00217 
00218             virtual void setup(void);
00219 
00220             virtual void getPlannerData(base::PlannerData &data) const;
00221 
00222         protected:
00223 
00225             class Motion
00226             {
00227             public:
00228 
00229                 Motion(void) : state(NULL), parent(NULL)
00230                 {
00231                 }
00232 
00234                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
00235                 {
00236                 }
00237 
00238                 ~Motion(void)
00239                 {
00240                 }
00241 
00243                 base::State       *state;
00244 
00246                 Motion            *parent;
00247             };
00248 
00250             void freeMotion(Motion *motion);
00251 
00253             base::StateSamplerPtr                      sampler_;
00254 
00256             Discretization<Motion>                     disc_;
00257 
00261             base::ProjectionEvaluatorPtr               projectionEvaluator_;
00262 
00266             double                                     goodScoreFactor_;
00267 
00271             double                                     badScoreFactor_;
00272 
00274             double                                     goalBias_;
00275 
00281             double                                     minValidPathFraction_;
00282 
00284             double                                     maxDistance_;
00285 
00287             RNG                                        rng_;
00288         };
00289 
00290     }
00291 }
00292 
00293 #endif