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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Authors: Alejandro Perez, Sertac Karaman, Ioan Sucan */ 00036 00037 #ifndef OMPL_CONTRIB_RRT_STAR_RRTSTAR_ 00038 #define OMPL_CONTRIB_RRT_STAR_RRTSTAR_ 00039 00040 #include "ompl/geometric/planners/PlannerIncludes.h" 00041 #include "ompl/datastructures/NearestNeighbors.h" 00042 #include "ompl/base/spaces/RealVectorStateSpace.h" 00043 #include <limits> 00044 #include <vector> 00045 00046 00047 namespace ompl 00048 { 00049 00050 namespace geometric 00051 { 00052 00077 class RRTstar : public base::Planner 00078 { 00079 public: 00080 00081 RRTstar(const base::SpaceInformationPtr &si) : base::Planner(si, "RRTstar") 00082 { 00083 specs_.approximateSolutions = true; 00084 specs_.optimizingPaths = true; 00085 00086 goalBias_ = 0.05; 00087 maxDistance_ = 0.0; 00088 ballRadiusMax_ = 0.0; 00089 ballRadiusConst_ = 1.0; 00090 delayCC_ = true; 00091 } 00092 00093 virtual ~RRTstar(void) 00094 { 00095 freeMemory(); 00096 } 00097 00098 virtual void getPlannerData(base::PlannerData &data) const; 00099 00100 virtual bool solve(const base::PlannerTerminationCondition &ptc); 00101 00102 virtual void clear(void); 00103 00113 void setGoalBias(double goalBias) 00114 { 00115 goalBias_ = goalBias; 00116 } 00117 00119 double getGoalBias(void) const 00120 { 00121 return goalBias_; 00122 } 00123 00129 void setRange(double distance) 00130 { 00131 maxDistance_ = distance; 00132 } 00133 00135 double getRange(void) const 00136 { 00137 return maxDistance_; 00138 } 00139 00149 void setBallRadiusConstant(double ballRadiusConstant) 00150 { 00151 ballRadiusConst_ = ballRadiusConstant; 00152 } 00153 00157 double getBallRadiusConstant(void) const 00158 { 00159 return ballRadiusConst_; 00160 } 00161 00170 void setMaxBallRadius(double maxBallRadius) 00171 { 00172 ballRadiusMax_ = maxBallRadius; 00173 } 00174 00177 double getMaxBallRadius(void) const 00178 { 00179 return ballRadiusMax_; 00180 } 00181 00183 template<template<typename T> class NN> 00184 void setNearestNeighbors(void) 00185 { 00186 nn_.reset(new NN<Motion*>()); 00187 } 00188 00196 void setDelayCC(bool delayCC) 00197 { 00198 delayCC_ = delayCC; 00199 } 00200 00202 bool getDelayCC(void) const 00203 { 00204 return delayCC_; 00205 } 00206 00207 virtual void setup(void); 00208 00209 protected: 00210 00211 00213 class Motion 00214 { 00215 public: 00216 00217 Motion(void) : state(NULL), parent(NULL), cost(0.0) 00218 { 00219 } 00220 00222 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL), cost(0.0) 00223 { 00224 } 00225 00226 ~Motion(void) 00227 { 00228 } 00229 00231 base::State *state; 00232 00234 Motion *parent; 00235 00237 double cost; 00238 }; 00239 00241 void freeMemory(void); 00242 00244 static bool compareMotion(const Motion* a, const Motion* b) 00245 { 00246 return (a->cost < b->cost); 00247 } 00248 00250 double distanceFunction(const Motion* a, const Motion* b) const 00251 { 00252 return si_->distance(a->state, b->state); 00253 } 00254 00256 base::StateSamplerPtr sampler_; 00257 00259 boost::shared_ptr< NearestNeighbors<Motion*> > nn_; 00260 00262 double goalBias_; 00263 00265 double maxDistance_; 00266 00268 RNG rng_; 00269 00271 double ballRadiusConst_; 00272 00274 double ballRadiusMax_; 00275 00277 bool delayCC_; 00278 00279 }; 00280 00281 } 00282 } 00283 00284 #endif