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EST.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_EST_EST_
00038 #define OMPL_GEOMETRIC_PLANNERS_EST_EST_
00039 
00040 #include "ompl/datastructures/Grid.h"
00041 #include "ompl/geometric/planners/PlannerIncludes.h"
00042 #include "ompl/base/ProjectionEvaluator.h"
00043 #include <vector>
00044 
00045 namespace ompl
00046 {
00047 
00048     namespace geometric
00049     {
00050 
00075         class EST : public base::Planner
00076         {
00077         public:
00078 
00080             EST(const base::SpaceInformationPtr &si) : base::Planner(si, "EST")
00081             {
00082                 specs_.approximateSolutions = true;
00083                 goalBias_ = 0.05;
00084                 maxDistance_ = 0.0;
00085             }
00086 
00087             virtual ~EST(void)
00088             {
00089                 freeMemory();
00090             }
00091 
00092             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00093 
00094             virtual void clear(void);
00095 
00103             void setGoalBias(double goalBias)
00104             {
00105                 goalBias_ = goalBias;
00106             }
00107 
00109             double getGoalBias(void) const
00110             {
00111                 return goalBias_;
00112             }
00113 
00119             void setRange(double distance)
00120             {
00121                 maxDistance_ = distance;
00122             }
00123 
00125             double getRange(void) const
00126             {
00127                 return maxDistance_;
00128             }
00129 
00132             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00133             {
00134                 projectionEvaluator_ = projectionEvaluator;
00135             }
00136 
00139             void setProjectionEvaluator(const std::string &name)
00140             {
00141                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00142             }
00143 
00145             const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const
00146             {
00147                 return projectionEvaluator_;
00148             }
00149 
00150             virtual void setup(void);
00151 
00152             virtual void getPlannerData(base::PlannerData &data) const;
00153 
00154         protected:
00155 
00157             class Motion
00158             {
00159             public:
00160 
00161                 Motion(void) : state(NULL), parent(NULL)
00162                 {
00163                 }
00164 
00166                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
00167                 {
00168                 }
00169 
00170                 ~Motion(void)
00171                 {
00172                 }
00173 
00175                 base::State       *state;
00176 
00178                 Motion            *parent;
00179             };
00180 
00182             typedef std::vector<Motion*> MotionSet;
00183 
00185             struct TreeData
00186             {
00187                 TreeData(void) : grid(0), size(0)
00188                 {
00189                 }
00190 
00192                 Grid<MotionSet> grid;
00193 
00195                 unsigned int    size;
00196             };
00197 
00199             void freeMemory(void);
00200 
00202             void addMotion(Motion *motion);
00203 
00205             Motion* selectMotion(void);
00206 
00208             base::ValidStateSamplerPtr   sampler_;
00209 
00211             TreeData                     tree_;
00212 
00214             base::ProjectionEvaluatorPtr projectionEvaluator_;
00215 
00217             double                       goalBias_;
00218 
00220             double                       maxDistance_;
00221 
00223             RNG                          rng_;
00224         };
00225 
00226     }
00227 }
00228 
00229 #endif