00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Rice University, 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Rice University nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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 /* Author: Ioan Sucan */ 00036 00037 #ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_ 00038 #define OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_ 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 00080 class BKPIECE1 : public base::Planner 00081 { 00082 public: 00083 00085 BKPIECE1(const base::SpaceInformationPtr &si); 00086 00087 virtual ~BKPIECE1(void); 00088 00091 void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator) 00092 { 00093 projectionEvaluator_ = projectionEvaluator; 00094 } 00095 00098 void setProjectionEvaluator(const std::string &name) 00099 { 00100 projectionEvaluator_ = si_->getStateSpace()->getProjection(name); 00101 } 00102 00104 const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const 00105 { 00106 return projectionEvaluator_; 00107 } 00108 00114 void setRange(double distance) 00115 { 00116 maxDistance_ = distance; 00117 } 00118 00120 double getRange(void) const 00121 { 00122 return maxDistance_; 00123 } 00124 00131 void setBorderFraction(double bp) 00132 { 00133 dStart_.setBorderFraction(bp); 00134 dGoal_.setBorderFraction(bp); 00135 } 00136 00139 double getBorderFraction(void) const 00140 { 00141 return dStart_.getBorderFraction(); 00142 } 00143 00148 void setFailedExpansionCellScoreFactor(double factor) 00149 { 00150 failedExpansionScoreFactor_ = factor; 00151 } 00152 00155 double getFailedExpansionCellScoreFactor(void) const 00156 { 00157 return failedExpansionScoreFactor_; 00158 } 00159 00166 void setMinValidPathFraction(double fraction) 00167 { 00168 minValidPathFraction_ = fraction; 00169 } 00170 00172 double getMinValidPathFraction(void) const 00173 { 00174 return minValidPathFraction_; 00175 } 00176 00177 virtual void setup(void); 00178 00179 virtual bool solve(const base::PlannerTerminationCondition &ptc); 00180 virtual void clear(void); 00181 00182 virtual void getPlannerData(base::PlannerData &data) const; 00183 00184 protected: 00185 00187 class Motion 00188 { 00189 public: 00190 00191 Motion(void) : root(NULL), state(NULL), parent(NULL) 00192 { 00193 } 00194 00196 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL) 00197 { 00198 } 00199 00200 ~Motion(void) 00201 { 00202 } 00203 00205 const base::State *root; 00206 00208 base::State *state; 00209 00211 Motion *parent; 00212 }; 00213 00215 void freeMotion(Motion *motion); 00216 00218 base::ValidStateSamplerPtr sampler_; 00219 00221 base::ProjectionEvaluatorPtr projectionEvaluator_; 00222 00224 Discretization<Motion> dStart_; 00225 00227 Discretization<Motion> dGoal_; 00228 00232 double failedExpansionScoreFactor_; 00233 00239 double minValidPathFraction_; 00240 00242 double maxDistance_; 00243 00245 RNG rng_; 00246 }; 00247 00248 } 00249 } 00250 00251 00252 #endif