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00037 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
00038 #define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
00039
00040 #include "ompl/control/planners/syclop/Syclop.h"
00041 #include "ompl/control/planners/syclop/Decomposition.h"
00042 #include "ompl/control/planners/syclop/GridDecomposition.h"
00043 #include "ompl/datastructures/NearestNeighbors.h"
00044
00045 namespace ompl
00046 {
00047 namespace control
00048 {
00052 class SyclopRRT : public Syclop
00053 {
00054 public:
00056 SyclopRRT(const SpaceInformationPtr& si, const DecompositionPtr &d) : Syclop(si,d,"SyclopRRT"), regionalNN_(false)
00057 {
00058 }
00059
00060 virtual ~SyclopRRT(void)
00061 {
00062 freeMemory();
00063 }
00064
00065 virtual void setup(void);
00066 virtual void clear(void);
00067 virtual void getPlannerData(base::PlannerData& data) const;
00068
00075 void setRegionalNearestNeighbors(bool enabled)
00076 {
00077 regionalNN_ = enabled;
00078 }
00079
00081 template<template<typename T> class NN>
00082 void setNearestNeighbors(void)
00083 {
00084 regionalNN_ = false;
00085 nn_.reset(new NN<Motion*>());
00086 }
00087
00088 protected:
00089 virtual Syclop::Motion* addRoot(const base::State* s);
00090 virtual void selectAndExtend(Region& region, std::vector<Motion*>& newMotions);
00091
00093 void freeMemory(void);
00094
00096 double distanceFunction(const Motion* a, const Motion* b) const
00097 {
00098 return si_->distance(a->state, b->state);
00099 }
00100
00101 base::StateSamplerPtr sampler_;
00102 DirectedControlSamplerPtr controlSampler_;
00103 boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
00104 bool regionalNN_;
00105 };
00106 }
00107 }
00108 #endif